[opencv] 116/251: fix the test fail on Calib3d_SolvePnP.accuracy * move array size to enum * move array size to member variable * loosen the eps of SOLVEPNP_P3P * loosen the eps in Calib3d_SolveP3P.accuracy
Nobuhiro Iwamatsu
iwamatsu at moszumanska.debian.org
Sun Aug 27 23:27:33 UTC 2017
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iwamatsu pushed a commit to annotated tag 3.3.0
in repository opencv.
commit 46bee830054196c8cf928447e4bd63950448cec6
Author: Tomoaki Teshima <tomoaki.teshima at gmail.com>
Date: Thu Jul 20 06:32:32 2017 +0900
fix the test fail on Calib3d_SolvePnP.accuracy
* move array size to enum
* move array size to member variable
* loosen the eps of SOLVEPNP_P3P
* loosen the eps in Calib3d_SolveP3P.accuracy
---
modules/calib3d/include/opencv2/calib3d.hpp | 3 +-
modules/calib3d/test/test_solvepnp_ransac.cpp | 78 +++++++++++++++------------
2 files changed, 47 insertions(+), 34 deletions(-)
diff --git a/modules/calib3d/include/opencv2/calib3d.hpp b/modules/calib3d/include/opencv2/calib3d.hpp
index 0cc265f..4135281 100644
--- a/modules/calib3d/include/opencv2/calib3d.hpp
+++ b/modules/calib3d/include/opencv2/calib3d.hpp
@@ -237,7 +237,8 @@ enum { SOLVEPNP_ITERATIVE = 0,
SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
SOLVEPNP_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
- SOLVEPNP_AP3P = 5 //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
+ SOLVEPNP_AP3P = 5, //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
+ SOLVEPNP_MAX_COUNT //!< Used for count
};
enum { CALIB_CB_ADAPTIVE_THRESH = 1,
diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 69d1e32..0adbbc9 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -61,22 +61,22 @@ public:
eps[SOLVEPNP_DLS] = 1.0e-2;
eps[SOLVEPNP_UPNP] = 1.0e-2;
totalTestsCount = 10;
+ pointsCount = 500;
}
~CV_solvePnPRansac_Test() {}
protected:
- void generate3DPointCloud(vector<Point3f>& points, Point3f pmin = Point3f(-1,
- -1, 5), Point3f pmax = Point3f(1, 1, 10))
+ void generate3DPointCloud(vector<Point3f>& points,
+ Point3f pmin = Point3f(-1, -1, 5),
+ Point3f pmax = Point3f(1, 1, 10))
{
- const Point3f delta = pmax - pmin;
+ RNG rng = ::theRNG(); // fix the seed to use "fixed" input 3D points
+
for (size_t i = 0; i < points.size(); i++)
{
- Point3f p(float(rand()) / RAND_MAX, float(rand()) / RAND_MAX,
- float(rand()) / RAND_MAX);
- p.x *= delta.x;
- p.y *= delta.y;
- p.z *= delta.z;
- p = p + pmin;
- points[i] = p;
+ float _x = rng.uniform(pmin.x, pmax.x);
+ float _y = rng.uniform(pmin.y, pmax.y);
+ float _z = rng.uniform(pmin.z, pmax.z);
+ points[i] = Point3f(_x, _y, _z);
}
}
@@ -138,8 +138,7 @@ protected:
}
}
- solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
- false, 500, 0.5f, 0.99, inliers, method);
+ solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, pointsCount, 0.5f, 0.99, inliers, method);
bool isTestSuccess = inliers.size() >= points.size()*0.95;
@@ -158,26 +157,25 @@ protected:
ts->set_failed_test_info(cvtest::TS::OK);
vector<Point3f> points, points_dls;
- const int pointsCount = 500;
points.resize(pointsCount);
generate3DPointCloud(points);
- const int methodsCount = 6;
RNG rng = ts->get_rng();
for (int mode = 0; mode < 2; mode++)
{
- for (int method = 0; method < methodsCount; method++)
+ for (int method = 0; method < SOLVEPNP_MAX_COUNT; method++)
{
double maxError = 0;
int successfulTestsCount = 0;
for (int testIndex = 0; testIndex < totalTestsCount; testIndex++)
{
if (runTest(rng, mode, method, points, eps, maxError))
+ {
successfulTestsCount++;
+ }
}
- //cout << maxError << " " << successfulTestsCount << endl;
if (successfulTestsCount < 0.7*totalTestsCount)
{
ts->printf( cvtest::TS::LOG, "Invalid accuracy for method %d, failed %d tests from %d, maximum error equals %f, distortion mode equals %d\n",
@@ -190,8 +188,9 @@ protected:
}
}
}
- double eps[6];
+ double eps[SOLVEPNP_MAX_COUNT];
int totalTestsCount;
+ int pointsCount;
};
class CV_solvePnP_Test : public CV_solvePnPRansac_Test
@@ -201,7 +200,7 @@ public:
{
eps[SOLVEPNP_ITERATIVE] = 1.0e-6;
eps[SOLVEPNP_EPNP] = 1.0e-6;
- eps[SOLVEPNP_P3P] = 1.0e-4;
+ eps[SOLVEPNP_P3P] = 2.0e-4;
eps[SOLVEPNP_AP3P] = 1.0e-4;
eps[SOLVEPNP_DLS] = 1.0e-4;
eps[SOLVEPNP_UPNP] = 1.0e-4;
@@ -216,38 +215,53 @@ protected:
Mat trueRvec, trueTvec;
Mat intrinsics, distCoeffs;
generateCameraMatrix(intrinsics, rng);
- if (method == 4) intrinsics.at<double>(1,1) = intrinsics.at<double>(0,0);
+ if (method == SOLVEPNP_DLS)
+ {
+ intrinsics.at<double>(1,1) = intrinsics.at<double>(0,0);
+ }
if (mode == 0)
+ {
distCoeffs = Mat::zeros(4, 1, CV_64FC1);
+ }
else
+ {
generateDistCoeffs(distCoeffs, rng);
+ }
generatePose(trueRvec, trueTvec, rng);
std::vector<Point3f> opoints;
- if (method == 2 || method == 5)
+ switch(method)
{
- opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
+ case SOLVEPNP_P3P:
+ case SOLVEPNP_AP3P:
+ opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
+ break;
+ case SOLVEPNP_UPNP:
+ opoints = std::vector<Point3f>(points.begin(), points.begin()+50);
+ break;
+ default:
+ opoints = points;
+ break;
}
- else if(method == 3)
- {
- opoints = std::vector<Point3f>(points.begin(), points.begin()+50);
- }
- else
- opoints = points;
vector<Point2f> projectedPoints;
projectedPoints.resize(opoints.size());
projectPoints(Mat(opoints), trueRvec, trueTvec, intrinsics, distCoeffs, projectedPoints);
- solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
- false, method);
+ bool isEstimateSuccess = solvePnP(opoints, projectedPoints, intrinsics, distCoeffs, rvec, tvec, false, method);
+ if (isEstimateSuccess == false)
+ {
+ return isEstimateSuccess;
+ }
double rvecDiff = norm(rvec-trueRvec), tvecDiff = norm(tvec-trueTvec);
bool isTestSuccess = rvecDiff < epsilon[method] && tvecDiff < epsilon[method];
double error = rvecDiff > tvecDiff ? rvecDiff : tvecDiff;
if (error > maxError)
+ {
maxError = error;
+ }
return isTestSuccess;
}
@@ -258,7 +272,7 @@ class CV_solveP3P_Test : public CV_solvePnPRansac_Test
public:
CV_solveP3P_Test()
{
- eps[SOLVEPNP_P3P] = 1.0e-4;
+ eps[SOLVEPNP_P3P] = 2.0e-4;
eps[SOLVEPNP_AP3P] = 1.0e-4;
totalTestsCount = 1000;
}
@@ -311,12 +325,11 @@ class CV_solveP3P_Test : public CV_solvePnPRansac_Test
ts->set_failed_test_info(cvtest::TS::OK);
vector<Point3f> points, points_dls;
- const int pointsCount = 500;
points.resize(pointsCount);
generate3DPointCloud(points);
const int methodsCount = 2;
- int methods[methodsCount] = {SOLVEPNP_P3P, SOLVEPNP_AP3P};
+ int methods[] = {SOLVEPNP_P3P, SOLVEPNP_AP3P};
RNG rng = ts->get_rng();
for (int mode = 0; mode < 2; mode++)
@@ -330,7 +343,6 @@ class CV_solveP3P_Test : public CV_solvePnPRansac_Test
if (runTest(rng, mode, methods[method], points, eps, maxError))
successfulTestsCount++;
}
- //cout << maxError << " " << successfulTestsCount << endl;
if (successfulTestsCount < 0.7*totalTestsCount)
{
ts->printf( cvtest::TS::LOG, "Invalid accuracy for method %d, failed %d tests from %d, maximum error equals %f, distortion mode equals %d\n",
--
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