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Merge pull request #19390 from tomoaki0705:fixCudaLegacyCalib3d

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This commit is contained in:
Alexander Alekhin 2021-01-25 13:32:42 +00:00
commit b1ffe7a153
1 changed files with 3 additions and 3 deletions
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6
modules/cudalegacy/test/test_calib3d.cpp
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@ -163,7 +163,7 @@ struct SolvePnPRansac : testing::TestWithParam<cv::cuda::DeviceInfo>
CUDA_TEST_P(SolvePnPRansac, Accuracy)
{
cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, 0, 100);
cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, -2000, 2000);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
@ -174,7 +174,7 @@ CUDA_TEST_P(SolvePnPRansac, Accuracy)
cv::Mat rvec_gold;
cv::Mat tvec_gold;
rvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1000);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
cv::Mat rvec, tvec;
@ -184,7 +184,7 @@ CUDA_TEST_P(SolvePnPRansac, Accuracy)
rvec, tvec, false, 200, 2.f, 100, &inliers);
ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3);
ASSERT_LE(cv::norm(tvec, tvec_gold, NORM_L2 | NORM_RELATIVE), 1e-3);
}
INSTANTIATE_TEST_CASE_P(CUDA_Calib3D, SolvePnPRansac, ALL_DEVICES);