OpenCV/opencv/modules/calib3d/misc/python/test/test_solvepnp.py

#!/usr/bin/env python
# Python 2/3 compatibility
from __future__ import print_function

import numpy as np
import cv2 as cv

from tests_common import NewOpenCVTests

class solvepnp_test(NewOpenCVTests):

    def test_regression_16040(self):
        obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
        img_points = np.array(
            [[700, 400], [700, 600], [900, 600], [900, 400]], dtype=np.float32
        )

        cameraMatrix = np.array(
            [[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
        )
        distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
        r = np.array([], dtype=np.float32)
        x, r, t, e = cv.solvePnPGeneric(
            obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
        )

    def test_regression_16040_2(self):
        obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
        img_points = np.array(
            [[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
        )

        cameraMatrix = np.array(
            [[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
        )
        distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
        r = np.array([], dtype=np.float32)
        x, r, t, e = cv.solvePnPGeneric(
            obj_points, img_points, cameraMatrix, distCoeffs, reprojectionError=r
        )

    def test_regression_16049(self):
        obj_points = np.array([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0]], dtype=np.float32)
        img_points = np.array(
            [[[700, 400], [700, 600], [900, 600], [900, 400]]], dtype=np.float32
        )

        cameraMatrix = np.array(
            [[712.0634, 0, 800], [0, 712.540, 500], [0, 0, 1]], dtype=np.float32
        )
        distCoeffs = np.array([[0, 0, 0, 0]], dtype=np.float32)
        x, r, t, e = cv.solvePnPGeneric(
            obj_points, img_points, cameraMatrix, distCoeffs
        )
        if e is None:
            # noArray() is supported, see https://github.com/opencv/opencv/issues/16049
            pass
        else:
            eDump = cv.utils.dumpInputArray(e)
            self.assertEqual(eDump, "InputArray: empty()=false kind=0x00010000 flags=0x01010000 total(-1)=1 dims(-1)=2 size(-1)=1x1 type(-1)=CV_32FC1")


if __name__ == '__main__':
    NewOpenCVTests.bootstrap()