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in solvePnPRansac call the solvePnP in the end with all the inliers to get more precise estimate

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This commit is contained in:
Vadim Pisarevsky
2015-03-16 16:56:26 +03:00
parent 5c352c9146
commit ca19ae8b5a
6 changed files with 97 additions and 61 deletions
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8
modules/calib3d/perf/perf_pnp.cpp
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@@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine(
testing::Values(5, 3*9, 7*13), //TODO: find why results on 4 points are too unstable
testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP)
testing::Values((int)SOLVEPNP_ITERATIVE, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_UPNP, (int)SOLVEPNP_DLS)
)
)
{
@@ -64,13 +64,15 @@ PERF_TEST_P(PointsNum_Algo, solvePnP,
PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
testing::Combine(
testing::Values(4),
testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
testing::Values(5),
testing::Values((int)SOLVEPNP_P3P, (int)SOLVEPNP_EPNP, (int)SOLVEPNP_DLS, (int)SOLVEPNP_UPNP)
)
)
{
int pointsNum = get<0>(GetParam());
pnpAlgo algo = get<1>(GetParam());
if( algo == SOLVEPNP_P3P )
pointsNum = 4;
vector<Point2f> points2d(pointsNum);
vector<Point3f> points3d(pointsNum);