Open Source Computer Vision Library https://opencv.org/
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#include "perf_precomp.hpp"
using namespace std;
using namespace cv;
using namespace perf;
typedef std::tr1::tuple<std::string, cv::Size> String_Size_t;
typedef perf::TestBaseWithParam<int> PointsNumber;
PERF_TEST_P(PointsNumber, solvePnP, testing::Values(4, 3*9, 7*13)
)
{
int pointsNum = GetParam();
vector<Point2f> points2d(pointsNum);
vector<Point3f> points3d(pointsNum);
Mat rvec = Mat::zeros(3, 1, CV_32FC1);
Mat tvec = Mat::zeros(3, 1, CV_32FC1);
Mat distortion = Mat::zeros(5, 1, CV_32FC1);
Mat intrinsics = Mat::eye(3, 3, CV_32FC1);
intrinsics.at<float> (0, 0) = 400.0;
intrinsics.at<float> (1, 1) = 400.0;
intrinsics.at<float> (0, 2) = 640 / 2;
intrinsics.at<float> (1, 2) = 480 / 2;
warmup(points3d, WARMUP_RNG);
warmup(rvec, WARMUP_RNG);
warmup(tvec, WARMUP_RNG);
projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);
//add noise
Mat noise(1, points2d.size(), CV_32FC2);
randu(noise, 0, 0.01);
add(points2d, noise, points2d);
declare.in(points3d, points2d);
TEST_CYCLE(1000)
{
solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false);
}
SANITY_CHECK(rvec);
SANITY_CHECK(tvec);
}