Merge pull request #15595 An error occurred from frastlin:rodrigues

* Added Rodrigues to the JS embindgen.py and a unittest in test_calib3d.js on 3.4 base

modules/js/src/embindgen.py

@@ -143,7 +143,7 @@ features2d = {'Feature2D': ['detect', 'compute', 'detectAndCompute', 'descriptor
               'BFMatcher': ['isMaskSupported', 'create'],
               '': ['drawKeypoints', 'drawMatches', 'drawMatchesKnn']}
 
-calib3d = {'': ['findHomography']}
+calib3d = {'': ['findHomography', 'Rodrigues']}
 
 def makeWhiteList(module_list):
     wl = {}

modules/js/test/test_calib3d.js

@@ -41,3 +41,27 @@ QUnit.test('findHomography', function(assert) {
 
   assert.ok(mat instanceof cv.Mat);
 });
+
+QUnit.test('Rodrigues', function(assert) {
+  // Converts a rotation matrix to a rotation vector and vice versa
+  // data64F is the output array
+  const rvec0 = cv.matFromArray(1, 3, cv.CV_64F, [1,1,1]);
+  let rMat0 = new cv.Mat();
+  let rvec1 = new cv.Mat();
+
+  // Args: input Mat, output Mat. The function mutates the output Mat, so the function does not return anything.
+  // cv.Rodrigues (InputArray=src, OutputArray=dst, jacobian=0)
+  // https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#void%20Rodrigues(InputArray%20src,%20OutputArray%20dst,%20OutputArray%20jacobian)
+  // vec to Mat, starting number is 3 long and each element is 1.
+  cv.Rodrigues(rvec0, rMat0);
+
+  assert.ok(rMat0.data64F.length == 9);
+  assert.ok(0.23 > rMat0.data64F[0] > 0.22);
+
+  // convert Mat to Vec, should be same as what we started with, 3 long and each item should be a 1.
+  cv.Rodrigues(rMat0, rvec1);
+
+  assert.ok(rvec1.data64F.length == 3);
+  assert.ok(1.01 > rvec1.data64F[0] > 0.9);
+  // Answer should be around 1: 0.9999999999999999
+});