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Merge pull request #27174 from MaximSmolskiy:more_elegant_skipping_SOLVEPNP_IPPE_methods_in_non_planar-accuracy-tests-for_solvePnP

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More elegant skipping SOLVEPNP_IPPE* methods in non-planar accuracy tests for solvePnP*
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Alexander Smorkalov 2025-03-31 09:09:35 +03:00 committed by GitHub
commit 9d34a88597
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GPG Key ID: B5690EEEBB952194
1 changed files with 16 additions and 14 deletions
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30
modules/calib3d/test/test_solvepnp_ransac.cpp
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@ -308,11 +308,6 @@ protected:
virtual bool runTest(RNG& rng, int mode, int method, const vector<Point3f>& points, double& errorTrans, double& errorRot)
{
if ((!planar && method == SOLVEPNP_IPPE) || method == SOLVEPNP_IPPE_SQUARE)
{
return true;
}
Mat rvec, tvec;
vector<int> inliers;
Mat trueRvec, trueTvec;
@ -383,6 +378,22 @@ protected:
{
for (int method = 0; method < SOLVEPNP_MAX_COUNT; method++)
{
// SOLVEPNP_IPPE need planar object
if (!planar && method == SOLVEPNP_IPPE)
{
cout << "mode: " << printMode(mode) << ", method: " << printMethod(method) << " -> "
<< "Skip for non-planar object" << endl;
continue;
}
// SOLVEPNP_IPPE_SQUARE need planar tag object
if (!planarTag && method == SOLVEPNP_IPPE_SQUARE)
{
cout << "mode: " << printMode(mode) << ", method: " << printMethod(method) << " -> "
<< "Skip for non-planar tag object" << endl;
continue;
}
//To get the same input for each methods
RNG rngCopy = rng;
std::vector<double> vec_errorTrans, vec_errorRot;
@ -486,15 +497,6 @@ public:
protected:
virtual bool runTest(RNG& rng, int mode, int method, const vector<Point3f>& points, double& errorTrans, double& errorRot)
{
if ((!planar && (method == SOLVEPNP_IPPE || method == SOLVEPNP_IPPE_SQUARE)) ||
(!planarTag && method == SOLVEPNP_IPPE_SQUARE))
{
errorTrans = -1;
errorRot = -1;
//SOLVEPNP_IPPE and SOLVEPNP_IPPE_SQUARE need planar object
return true;
}
//Tune thresholds...
double epsilon_trans[SOLVEPNP_MAX_COUNT];
memcpy(epsilon_trans, eps, SOLVEPNP_MAX_COUNT * sizeof(*epsilon_trans));