From bbe75fe1d2230d94d3b82b33e16048a82f231920 Mon Sep 17 00:00:00 2001 From: Alexander Alekhin Date: Mon, 20 Jul 2015 17:05:25 +0300 Subject: [PATCH] calib3d: normalize Rodrigues vector in perf test --- modules/calib3d/perf/perf_pnp.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/modules/calib3d/perf/perf_pnp.cpp b/modules/calib3d/perf/perf_pnp.cpp index e5a92bf1c4..a980655e8e 100644 --- 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