calib3d: normalize Rodrigues vector in perf test

10 years ago · bbe75fe1d2
parent 0726c4d4ea
commit bbe75fe1d2
1 changed files with 5 additions and 0 deletions
--- a/modules/calib3d/perf/perf_pnp.cpp
+++ b/modules/calib3d/perf/perf_pnp.cpp
@ -90,6 +90,11 @@ PERF_TEST_P(PointsNum_Algo, solvePnPSmallPoints,
    warmup(rvec, WARMUP_RNG);
    warmup(tvec, WARMUP_RNG);

+    // normalize Rodrigues vector
+    Mat rvec_tmp = Mat::eye(3, 3, CV_32F);
+    Rodrigues(rvec, rvec_tmp);
+    Rodrigues(rvec_tmp, rvec);
+
    projectPoints(points3d, rvec, tvec, intrinsics, distortion, points2d);

    //add noise