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Fix incorrect rvec and tvec when using useExtrinsicGuess #1585

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Merged
shimat merged 1 commit into from
Jul 8, 2023
Merged

Fix incorrect rvec and tvec when using useExtrinsicGuess #1585

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2 changes: 1 addition & 1 deletion src/OpenCvSharpExtern/calib3d.h
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,7 @@ CVAPI(ExceptionStatus) calib3d_solvePnP_vector(cv::Point3f *objectPoints, int ob
distCoeffsMat = cv::Mat(distCoeffsLength, 1, CV_64FC1, distCoeffs);

const cv::Matx<double, 3, 3> cameraMatrixMat(cameraMatrix);
cv::Matx<double, 3, 1> rvecMat, tvecMat;
cv::Matx<double, 3, 1> rvecMat(rvec), tvecMat(tvec);
cv::solvePnP(objectPointsMat, imagePointsMat, cameraMatrixMat, distCoeffsMat, rvecMat, tvecMat, useExtrinsicGuess != 0, flags);
memcpy(rvec, rvecMat.val, sizeof(double) * 3);
memcpy(tvec, tvecMat.val, sizeof(double) * 3);
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12 changes: 7 additions & 5 deletions test/OpenCvSharp.Tests/calib3d/Calib3dTest.cs
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Expand Up @@ -280,11 +280,13 @@ public void FishEyeProjectPoints()
Cv2.FishEye.ProjectPoints(objectPoints, imagePoints, rVec, tVec, intrisicMat, distCoeffs, 0, jacobian);
}

[Fact]
public void SolvePnPTestByArray()
[Theory]
[InlineData(false)]
[InlineData(true)]
public void SolvePnPTestByArray(bool useExtrinsicGuess)
{
var rvec = new double[] { 0, 0, 0 };
var tvec = new double[] { 0, 0, 0 };
var rvec = new double[] { 3, 0, 0 };
var tvec = new double[] { 0, 0, -10 };
var cameraMatrix = new double[,]
{
{ 1, 0, 0 },
Expand All @@ -305,7 +307,7 @@ public void SolvePnPTestByArray()

Cv2.ProjectPoints(objPts, rvec, tvec, cameraMatrix, dist, out var imgPts, out var jacobian);

Cv2.SolvePnP(objPts, imgPts, cameraMatrix, dist, ref rvec, ref tvec);
Cv2.SolvePnP(objPts, imgPts, cameraMatrix, dist, ref rvec, ref tvec, useExtrinsicGuess: useExtrinsicGuess);
}

[Fact]
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