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Adding unit test for PnP solver #170
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shinsumicco
reviewed
Nov 13, 2019
test/openvslam/solve/pnp_solver.cc
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| else | ||
| return x; | ||
| } | ||
| double angle_of_rot(const Mat33_t& rot) { |
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Can be replaced with norm of converter::to_angle_axis(rot) ?
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It is possible. I missed that function.
test/openvslam/solve/pnp_solver.cc
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| cv::KeyPoint kp; | ||
| keypts.push_back(kp); |
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Can be replaced as follows?
keypts.emplace_back(cv::KeyPoint{});And could you insert the comment which states the default value of octave contained in cv::KeyPoint is 0 ?
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Yes, your suggestion is more efficient.
MikiyaShibuya
changed the title
shinsumicco
suggested changes
Nov 14, 2019
test/openvslam/solve/pnp_solver.cc
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| using namespace openvslam; | ||
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| double clamp(const double x, const double min_val, const double max_val) { |
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This function is not used.
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The function is no longer used. I removed it.
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LGTM. Thanks! |
shinsumicco
approved these changes
Nov 14, 2019
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The current PnP solver takes care of coordinates or some vector as arrays.
So, I will replace them to Eigen::Vectors.
Firstly, I added a unit test to check if the solver estimates camera-pose correctly.