400 lines
12 KiB
C++
400 lines
12 KiB
C++
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#include "test_chessboardgenerator.hpp"
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#include "opencv2/core/types_c.h"
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namespace opencv_test { namespace {
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class CV_CameraCalibrationBadArgTest : public cvtest::BadArgTest
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{
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public:
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CV_CameraCalibrationBadArgTest() {}
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~CV_CameraCalibrationBadArgTest() {}
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protected:
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void run(int);
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void run_func(void) {}
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struct C_Caller
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{
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_InputArray imgPts_arg;
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_InputArray objPts_arg;
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_OutputArray rvecs_arg;
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_OutputArray tvecs_arg;
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_OutputArray newObjPts_arg;
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_InputOutputArray cameraMatrix_arg;
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_InputOutputArray distCoeffs_arg;
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std::vector<std::vector<Point2f> > imgPts;
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std::vector<std::vector<Point3f> > objPts;
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Size imageSize0, imageSize;
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int iFixedPoint0, iFixedPoint;
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Mat cameraMatrix;
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Mat distCoeffs;
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std::vector<Mat> rvecs;
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std::vector<Mat> tvecs;
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std::vector<Point3f> newObjPts;
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int flags0, flags;
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void initArgs()
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{
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imgPts_arg = imgPts;
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objPts_arg = objPts;
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rvecs_arg = rvecs;
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tvecs_arg = tvecs;
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newObjPts_arg = newObjPts;
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cameraMatrix_arg = cameraMatrix;
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distCoeffs_arg = distCoeffs;
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imageSize = imageSize0;
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flags = flags0;
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iFixedPoint = iFixedPoint0;
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}
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void operator()() const
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{
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calibrateCameraRO(objPts_arg, imgPts_arg, imageSize, iFixedPoint,
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cameraMatrix_arg, distCoeffs_arg, rvecs_arg, tvecs_arg,
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newObjPts_arg, flags);
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}
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};
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};
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void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
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{
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const int M = 2;
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Size imgSize(800, 600);
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Mat_<float> camMat(3, 3);
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Mat_<float> distCoeffs0(1, 5);
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camMat << 300.f, 0.f, imgSize.width/2.f, 0, 300.f, imgSize.height/2.f, 0.f, 0.f, 1.f;
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distCoeffs0 << 1.2f, 0.2f, 0.f, 0.f, 0.f;
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ChessBoardGenerator cbg(Size(8,6));
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Size corSize = cbg.cornersSize();
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vector<Point2f> corners;
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cbg(Mat(imgSize, CV_8U, Scalar(0)), camMat, distCoeffs0, corners);
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C_Caller caller;
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caller.imageSize0 = imgSize;
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caller.iFixedPoint0 = -1;
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caller.flags0 = 0;
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/////////////////////////////
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Mat cameraMatrix_cpp;
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Mat distCoeffs_cpp;
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Mat rvecs_cpp;
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Mat tvecs_cpp;
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Mat newObjPts_cpp;
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std::vector<Point3f> objPts_cpp;
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for(int y = 0; y < corSize.height; ++y)
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for(int x = 0; x < corSize.width; ++x)
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objPts_cpp.push_back(Point3f((float)x, (float)y, 0.f));
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caller.objPts.resize(M);
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caller.imgPts.resize(M);
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for(int i = 0; i < M; i++)
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{
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caller.objPts[i] = objPts_cpp;
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caller.imgPts[i] = corners;
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}
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caller.cameraMatrix.create(3, 3, CV_32F);
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caller.distCoeffs.create(5, 1, CV_32F);
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caller.rvecs.clear();
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caller.tvecs.clear();
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caller.newObjPts.clear();
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/* /*//*/ */
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int errors = 0;
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caller.initArgs();
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caller.objPts_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "None passed in objPts", caller);
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caller.initArgs();
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caller.imgPts_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "None passed in imgPts", caller );
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caller.initArgs();
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caller.cameraMatrix_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero passed in cameraMatrix", caller );
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caller.initArgs();
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caller.distCoeffs_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero passed in distCoeffs", caller );
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caller.initArgs();
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caller.imageSize.width = -1;
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errors += run_test_case( CV_StsOutOfRange, "Bad image width", caller );
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caller.initArgs();
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caller.imageSize.height = -1;
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errors += run_test_case( CV_StsOutOfRange, "Bad image height", caller );
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caller.initArgs();
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caller.imgPts[0].clear();
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errors += run_test_case( CV_StsBadSize, "Bad imgpts[0]", caller );
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caller.imgPts[0] = caller.imgPts[1];
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caller.initArgs();
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caller.objPts[1].clear();
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errors += run_test_case( CV_StsBadSize, "Bad objpts[1]", caller );
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caller.objPts[1] = caller.objPts[0];
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caller.initArgs();
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Mat badCM = Mat::zeros(4, 4, CV_64F);
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caller.cameraMatrix_arg = badCM;
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caller.flags = CALIB_USE_INTRINSIC_GUESS;
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errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
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caller.initArgs();
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Mat badDC = Mat::zeros(10, 10, CV_64F);
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caller.distCoeffs_arg = badDC;
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caller.flags = CALIB_USE_INTRINSIC_GUESS;
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errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
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if (errors)
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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else
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ts->set_failed_test_info(cvtest::TS::OK);
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}
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class CV_Rodrigues2BadArgTest : public cvtest::BadArgTest
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{
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public:
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CV_Rodrigues2BadArgTest() {}
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~CV_Rodrigues2BadArgTest() {}
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protected:
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void run_func(void) {}
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struct C_Caller
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{
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_InputArray src_arg;
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_OutputArray dst_arg, j_arg;
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Mat src;
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Mat dst;
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Mat jacobian;
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void initArgs()
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{
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src_arg = src;
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dst_arg = dst;
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j_arg = jacobian;
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}
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void operator()()
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{
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cv::Rodrigues(src_arg, dst_arg, j_arg);
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}
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};
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void run(int /* start_from */ )
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{
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Mat zeros(1, sizeof(CvMat), CV_8U, Scalar(0));
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Mat src_cpp(3, 1, CV_32F);
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Mat dst_cpp(3, 3, CV_32F);
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C_Caller caller;
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/*/*//*/*/
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int errors = 0;
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caller.initArgs();
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caller.src_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Src is empty matrix", caller );
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caller.initArgs();
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caller.src = Mat::zeros(3, 1, CV_8U);
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errors += run_test_case( CV_StsUnsupportedFormat, "Bad src formart", caller );
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caller.initArgs();
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caller.src = Mat::zeros(1, 1, CV_32F);
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errors += run_test_case( CV_StsBadSize, "Bad src size", caller );
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if (errors)
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ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
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else
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ts->set_failed_test_info(cvtest::TS::OK);
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}
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};
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//////////////////////////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////////////////////////
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class CV_ProjectPoints2BadArgTest : public cvtest::BadArgTest
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{
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public:
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CV_ProjectPoints2BadArgTest() : camMat(3, 3), distCoeffs(1, 5)
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{
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Size imsSize(800, 600);
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camMat << 300.f, 0.f, imsSize.width/2.f, 0, 300.f, imsSize.height/2.f, 0.f, 0.f, 1.f;
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distCoeffs << 1.2f, 0.2f, 0.f, 0.f, 0.f;
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}
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~CV_ProjectPoints2BadArgTest() {}
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protected:
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void run_func(void) {}
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Mat_<float> camMat;
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Mat_<float> distCoeffs;
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struct C_Caller
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{
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_InputArray objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg;
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_OutputArray imagePoints_arg;
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Mat objectPoints;
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Mat r_vec;
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Mat t_vec;
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Mat A;
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Mat distCoeffs;
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Mat imagePoints;
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Mat J;
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double aspectRatio0, aspectRatio;
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void initArgs()
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{
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objectPoints_arg = objectPoints;
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imagePoints_arg = imagePoints;
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rvec_arg = r_vec;
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tvec_arg = t_vec;
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A_arg = A;
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DC_arg = distCoeffs;
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aspectRatio = aspectRatio0;
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}
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void operator()()
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{
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projectPoints(objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg,
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imagePoints_arg, J, aspectRatio );
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}
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};
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void run(int /* start_from */ )
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{
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C_Caller caller;
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const int n = 10;
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Mat objectPoints_cpp(1, n, CV_32FC3);
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randu(objectPoints_cpp, Scalar::all(1), Scalar::all(10));
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caller.objectPoints = objectPoints_cpp;
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caller.t_vec = Mat::zeros(1, 3, CV_32F);
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cvtest::Rodrigues(Mat::eye(3, 3, CV_32F), caller.r_vec);
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caller.A = Mat::eye(3, 3, CV_32F);
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caller.distCoeffs = Mat::zeros(1, 5, CV_32F);
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caller.aspectRatio0 = 1.0;
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/********************/
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int errors = 0;
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caller.initArgs();
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caller.objectPoints_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero objectPoints", caller );
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caller.initArgs();
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caller.rvec_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero r_vec", caller );
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caller.initArgs();
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caller.tvec_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero t_vec", caller );
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caller.initArgs();
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caller.A_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero camMat", caller );
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caller.initArgs();
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caller.imagePoints_arg = noArray();
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errors += run_test_case( CV_StsBadArg, "Zero imagePoints", caller );
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Mat save_rvec = caller.r_vec;
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caller.initArgs();
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caller.r_vec.create(2, 2, CV_32F);
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errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
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caller.initArgs();
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caller.r_vec.create(1, 3, CV_8U);
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errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
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caller.r_vec = save_rvec;
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/****************************/
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Mat save_tvec = caller.t_vec;
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caller.initArgs();
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|
caller.t_vec.create(3, 3, CV_32F);
|
||
|
|
errors += run_test_case( CV_StsBadArg, "Bad tvec format", caller );
|
||
|
|
|
||
|
|
caller.initArgs();
|
||
|
|
caller.t_vec.create(1, 3, CV_8U);
|
||
|
|
errors += run_test_case( CV_StsBadArg, "Bad tvec format", caller );
|
||
|
|
caller.t_vec = save_tvec;
|
||
|
|
|
||
|
|
/****************************/
|
||
|
|
Mat save_A = caller.A;
|
||
|
|
caller.initArgs();
|
||
|
|
caller.A.create(2, 2, CV_32F);
|
||
|
|
errors += run_test_case( CV_StsBadArg, "Bad A format", caller );
|
||
|
|
caller.A = save_A;
|
||
|
|
|
||
|
|
/****************************/
|
||
|
|
Mat save_DC = caller.distCoeffs;
|
||
|
|
caller.initArgs();
|
||
|
|
caller.distCoeffs.create(3, 3, CV_32F);
|
||
|
|
errors += run_test_case( CV_StsBadArg, "Bad distCoeffs format", caller );
|
||
|
|
caller.distCoeffs = save_DC;
|
||
|
|
|
||
|
|
if (errors)
|
||
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
|
||
|
|
else
|
||
|
|
ts->set_failed_test_info(cvtest::TS::OK);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
TEST(Calib3d_CalibrateCamera_CPP, badarg) { CV_CameraCalibrationBadArgTest test; test.safe_run(); }
|
||
|
|
TEST(Calib3d_Rodrigues_CPP, badarg) { CV_Rodrigues2BadArgTest test; test.safe_run(); }
|
||
|
|
TEST(Calib3d_ProjectPoints_CPP, badarg) { CV_ProjectPoints2BadArgTest test; test.safe_run(); }
|
||
|
|
|
||
|
|
}} // namespace
|