generic-library/opencv
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fixed bug http://code.opencv.org/issues/3882

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This commit is contained in:
Vadim Pisarevsky 2015-05-25 22:03:25 +03:00
parent 3bc5958c58
commit 9d90b0549c
2 changed files with 35 additions and 1 deletions
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11
modules/calib3d/src/solvepnp.cpp
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@ -192,7 +192,16 @@ bool solvePnPRansac(InputArray _opoints, InputArray _ipoints,
OutputArray _inliers, int flags) OutputArray _inliers, int flags)
{ {
Mat opoints = _opoints.getMat(), ipoints = _ipoints.getMat(); Mat opoints0 = _opoints.getMat(), ipoints0 = _ipoints.getMat();
Mat opoints, ipoints;
if( opoints0.depth() == CV_64F || !opoints0.isContinuous() )
opoints0.convertTo(opoints, CV_32F);
else
opoints = opoints0;
if( ipoints0.depth() == CV_64F || !ipoints0.isContinuous() )
ipoints0.convertTo(ipoints, CV_32F);
else
ipoints = ipoints0;
int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F)); int npoints = std::max(opoints.checkVector(3, CV_32F), opoints.checkVector(3, CV_64F));
CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) ); CV_Assert( npoints >= 0 && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) );

25
modules/calib3d/test/test_solvepnp_ransac.cpp
View File

@ -319,3 +319,28 @@ TEST(DISABLED_Calib3d_SolvePnPRansac, concurrency)
} }
#endif #endif
TEST(Calib3d_SolvePnP, double_support)
{
Matx33d intrinsics(5.4794130238156129e+002, 0., 2.9835545700043139e+002, 0.,
5.4817724002728005e+002, 2.3062194051986233e+002, 0., 0., 1.);
std::vector<cv::Point3d> points3d;
std::vector<cv::Point2d> points2d;
std::vector<cv::Point3f> points3dF;
std::vector<cv::Point2f> points2dF;
for (int i = 0; i < 10 ; i++)
{
points3d.push_back(cv::Point3d(i,0,0));
points3dF.push_back(cv::Point3d(i,0,0));
points2d.push_back(cv::Point2f(i,0));
points2dF.push_back(cv::Point2d(i,0));
}
Mat R,t, RF, tF;
vector<int> inliers;
solvePnPRansac(points3dF, points2dF, intrinsics, cv::Mat(), RF, tF, true, 100, 8, 0.999, inliers, cv::SOLVEPNP_P3P);
solvePnPRansac(points3d, points2d, intrinsics, cv::Mat(), R, t, true, 100, 8, 0.999, inliers, cv::SOLVEPNP_P3P);
ASSERT_LE(norm(R, Mat_<double>(RF), NORM_INF), 1e-3);
ASSERT_LE(norm(t, Mat_<double>(tF), NORM_INF), 1e-3);
}