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make GPU version of solvePnPRansac more consistent with CPU one

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This commit is contained in:
Alexey Spizhevoy
2011-03-07 14:01:18 +00:00
parent 1d62fddd31
commit 23416e3db5
4 changed files with 33 additions and 51 deletions
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9
modules/gpu/test/test_calib3d.cpp
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@@ -107,7 +107,7 @@ TEST(transformPoints, accuracy)
}
TEST(solvePnpRansac, accuracy)
TEST(solvePnPRansac, accuracy)
{
RNG& rng = TS::ptr()->get_rng();
@@ -126,12 +126,9 @@ TEST(solvePnpRansac, accuracy)
projectPoints(object, rvec_gold, tvec_gold, camera_mat, Mat(), image_vec);
Mat image(1, image_vec.size(), CV_32FC2, &image_vec[0]);
Mat rvec;
Mat tvec;
SolvePnpRansacParams params;
Mat rvec, tvec;
vector<int> inliers;
params.inliers = &inliers;
solvePnpRansac(object, image, camera_mat, Mat(), rvec, tvec, params);
gpu::solvePnPRansac(object, image, camera_mat, Mat(), rvec, tvec, false, 200, 2.f, 100, &inliers);
ASSERT_LE(norm(rvec - rvec_gold), 1e-3f);
ASSERT_LE(norm(tvec - tvec_gold), 1e-3f);