From 213241c06a96217fd7421b49bce94251f8d41f9d Mon Sep 17 00:00:00 2001
From: edgarriba <edgar.riba@gmail.com>
Date: Mon, 11 Aug 2014 09:44:24 +0200
Subject: [PATCH] DLS test update

---
 modules/calib3d/src/solvepnp.cpp              |  2 +-
 modules/calib3d/test/test_solvepnp_ransac.cpp | 13 +++++++------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/modules/calib3d/src/solvepnp.cpp b/modules/calib3d/src/solvepnp.cpp
index 00bfd549d..006532d99 100644
--- a/modules/calib3d/src/solvepnp.cpp
+++ b/modules/calib3d/src/solvepnp.cpp
@@ -161,7 +161,7 @@ public:
         float* err = _err.getMat().ptr<float>();
 
         for ( i = 0; i < count; ++i)
-            err[i] = cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
+            err[i] = (float)cv::norm( ipoints_ptr[i] - projpoints_ptr[i] );
 
     }
 
diff --git a/modules/calib3d/test/test_solvepnp_ransac.cpp b/modules/calib3d/test/test_solvepnp_ransac.cpp
index 6e87fb952..48f8cdef0 100644
--- a/modules/calib3d/test/test_solvepnp_ransac.cpp
+++ b/modules/calib3d/test/test_solvepnp_ransac.cpp
@@ -136,7 +136,7 @@ protected:
         }
 
         solvePnPRansac(points, projectedPoints, intrinsics, distCoeffs, rvec, tvec,
-            false, 500, 0.5, 0.99, inliers, method);
+            false, 500, 0.5, 0.9, inliers, method);
 
         bool isTestSuccess = inliers.size() >= points.size()*0.95;
 
@@ -155,11 +155,9 @@ protected:
         ts->set_failed_test_info(cvtest::TS::OK);
 
         vector<Point3f> points, points_dls;
-        const int pointsCount = 500, pointsCount2 = 100;
+        const int pointsCount = 500;
         points.resize(pointsCount);
-        points_dls.resize(pointsCount2);
         generate3DPointCloud(points);
-        generate3DPointCloud(points_dls);
 
         const int methodsCount = 4;
         RNG rng = ts->get_rng();
@@ -173,8 +171,7 @@ protected:
                 int successfulTestsCount = 0;
                 for (int testIndex = 0; testIndex < totalTestsCount; testIndex++)
                 {
-                    vector<Point3f> points_ = method != 3 ? points : points_dls;
-                    if (runTest(rng, mode, method, points_, eps, maxError))
+                    if (runTest(rng, mode, method, points, eps, maxError))
                         successfulTestsCount++;
                 }
                 //cout <<  maxError << " " << successfulTestsCount << endl;
@@ -222,6 +219,10 @@ protected:
         {
             opoints = std::vector<Point3f>(points.begin(), points.begin()+4);
         }
+        else if(method == 3)
+        {
+            opoints = std::vector<Point3f>(points.begin(), points.begin()+20);
+        }
         else
             opoints = points;