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Merge pull request #27185 from MaximSmolskiy:specify_dls_and_upnp_mappings_to_epnp_in_all_places_for_solvepnp_tests

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Specify DLS and UPnP mappings to EPnP in all places for solvePnP* tests #27185

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Maxim Smolskiy 2025-04-02 21:21:56 +03:00 committed by GitHub
parent 8b4b382fa4
commit c8e88d8984
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GPG Key ID: B5690EEEBB952194
1 changed files with 14 additions and 14 deletions
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28
modules/calib3d/test/test_solvepnp_ransac.cpp
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@ -182,9 +182,9 @@ static std::string printMethod(int method)
case 2:
return "SOLVEPNP_P3P";
case 3:
return "SOLVEPNP_DLS (remaped to SOLVEPNP_EPNP)";
return "SOLVEPNP_DLS (remapped to SOLVEPNP_EPNP)";
case 4:
return "SOLVEPNP_UPNP (remaped to SOLVEPNP_EPNP)";
return "SOLVEPNP_UPNP (remapped to SOLVEPNP_EPNP)";
case 5:
return "SOLVEPNP_AP3P";
case 6:
@ -207,8 +207,8 @@ public:
eps[SOLVEPNP_EPNP] = 1.0e-2;
eps[SOLVEPNP_P3P] = 1.0e-2;
eps[SOLVEPNP_AP3P] = 1.0e-2;
eps[SOLVEPNP_DLS] = 1.0e-2;
eps[SOLVEPNP_UPNP] = 1.0e-2;
eps[SOLVEPNP_DLS] = 1.0e-2; // DLS is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_UPNP] = 1.0e-2; // UPnP is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_IPPE] = 1.0e-2;
eps[SOLVEPNP_IPPE_SQUARE] = 1.0e-2;
eps[SOLVEPNP_SQPNP] = 1.0e-2;
@ -468,8 +468,8 @@ public:
eps[SOLVEPNP_EPNP] = 1.0e-6;
eps[SOLVEPNP_P3P] = 2.0e-4;
eps[SOLVEPNP_AP3P] = 1.0e-4;
eps[SOLVEPNP_DLS] = 1.0e-6; //DLS is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_UPNP] = 1.0e-6; //UPnP is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_DLS] = 1.0e-6; // DLS is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_UPNP] = 1.0e-6; // UPnP is remapped to EPnP, so we use the same threshold
eps[SOLVEPNP_IPPE] = 1.0e-6;
eps[SOLVEPNP_IPPE_SQUARE] = 1.0e-6;
eps[SOLVEPNP_SQPNP] = 1.0e-6;
@ -509,19 +509,19 @@ protected:
if (mode == 0)
{
epsilon_trans[SOLVEPNP_EPNP] = 5.0e-3;
epsilon_trans[SOLVEPNP_DLS] = 5.0e-3;
epsilon_trans[SOLVEPNP_UPNP] = 5.0e-3;
epsilon_trans[SOLVEPNP_DLS] = 5.0e-3; // DLS is remapped to EPnP, so we use the same threshold
epsilon_trans[SOLVEPNP_UPNP] = 5.0e-3; // UPnP is remapped to EPnP, so we use the same threshold
epsilon_rot[SOLVEPNP_EPNP] = 5.0e-3;
epsilon_rot[SOLVEPNP_DLS] = 5.0e-3;
epsilon_rot[SOLVEPNP_UPNP] = 5.0e-3;
epsilon_rot[SOLVEPNP_DLS] = 5.0e-3; // DLS is remapped to EPnP, so we use the same threshold
epsilon_rot[SOLVEPNP_UPNP] = 5.0e-3; // UPnP is remapped to EPnP, so we use the same threshold
}
else
{
epsilon_trans[SOLVEPNP_ITERATIVE] = 1e-4;
epsilon_trans[SOLVEPNP_EPNP] = 5e-3;
epsilon_trans[SOLVEPNP_DLS] = 5e-3;
epsilon_trans[SOLVEPNP_UPNP] = 5e-3;
epsilon_trans[SOLVEPNP_DLS] = 5e-3; // DLS is remapped to EPnP, so we use the same threshold
epsilon_trans[SOLVEPNP_UPNP] = 5e-3; // UPnP is remapped to EPnP, so we use the same threshold
epsilon_trans[SOLVEPNP_P3P] = 1e-4;
epsilon_trans[SOLVEPNP_AP3P] = 1e-4;
epsilon_trans[SOLVEPNP_IPPE] = 1e-4;
@ -529,8 +529,8 @@ protected:
epsilon_rot[SOLVEPNP_ITERATIVE] = 1e-4;
epsilon_rot[SOLVEPNP_EPNP] = 5e-3;
epsilon_rot[SOLVEPNP_DLS] = 5e-3;
epsilon_rot[SOLVEPNP_UPNP] = 5e-3;
epsilon_rot[SOLVEPNP_DLS] = 5e-3; // DLS is remapped to EPnP, so we use the same threshold
epsilon_rot[SOLVEPNP_UPNP] = 5e-3; // UPnP is remapped to EPnP, so we use the same threshold
epsilon_rot[SOLVEPNP_P3P] = 1e-4;
epsilon_rot[SOLVEPNP_AP3P] = 1e-4;
epsilon_rot[SOLVEPNP_IPPE] = 1e-4;