519 lines
15 KiB
C++
519 lines
15 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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class CV_UndistortPointsBadArgTest : public cvtest::BadArgTest
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{
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public:
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CV_UndistortPointsBadArgTest();
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protected:
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void run(int);
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void run_func();
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private:
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//common
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cv::Size img_size;
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bool useCPlus;
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//static const int N_POINTS = 1;
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static const int N_POINTS2 = 2;
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//C
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CvMat* _camera_mat;
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CvMat* matR;
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CvMat* matP;
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CvMat* _distortion_coeffs;
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CvMat* _src_points;
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CvMat* _dst_points;
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//C++
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cv::Mat camera_mat;
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cv::Mat R;
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cv::Mat P;
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cv::Mat distortion_coeffs;
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cv::Mat src_points;
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std::vector<cv::Point2f> dst_points;
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};
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CV_UndistortPointsBadArgTest::CV_UndistortPointsBadArgTest ()
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{
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}
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void CV_UndistortPointsBadArgTest::run_func()
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{
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if (useCPlus)
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{
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cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
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}
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else
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{
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cvUndistortPoints(_src_points,_dst_points,_camera_mat,_distortion_coeffs,matR,matP);
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}
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}
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void CV_UndistortPointsBadArgTest::run(int)
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{
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//RNG& rng = ts->get_rng();
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int errcount = 0;
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useCPlus = false;
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//initializing
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img_size.width = 800;
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img_size.height = 600;
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double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f};
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double dist[4] = {0.01,0.02,0.001,0.0005};
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double s_points[N_POINTS2] = {img_size.width/4,img_size.height/4};
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double d_points[N_POINTS2];
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double p[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
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double r[9] = {1,0,0,0,1,0,0,0,1};
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CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
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CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
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CvMat _P_orig = cvMat(3,3,CV_64F,p);
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CvMat _R_orig = cvMat(3,3,CV_64F,r);
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CvMat _src_points_orig = cvMat(1,4,CV_64FC2,s_points);
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CvMat _dst_points_orig = cvMat(1,4,CV_64FC2,d_points);
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_camera_mat = &_camera_mat_orig;
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_distortion_coeffs = &_distortion_coeffs_orig;
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matP = &_P_orig;
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matR = &_R_orig;
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_src_points = &_src_points_orig;
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_dst_points = &_dst_points_orig;
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//tests
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CvMat* temp1;
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CvMat* temp;
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IplImage* temp_img = cvCreateImage(cvSize(img_size.width,img_size.height),8,3);
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//-----------
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temp = (CvMat*)temp_img;
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_src_points = temp;
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errcount += run_test_case( CV_StsAssert, "Input data is not CvMat*" );
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_src_points = &_src_points_orig;
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temp = (CvMat*)temp_img;
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_dst_points = temp;
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errcount += run_test_case( CV_StsAssert, "Output data is not CvMat*" );
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_dst_points = &_dst_points_orig;
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temp = cvCreateMat(2,3,CV_64F);
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_src_points = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" );
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_src_points = &_src_points_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(2,3,CV_64F);
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_dst_points = temp;
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errcount += run_test_case(CV_StsAssert, "Invalid output data matrix size" );
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_dst_points = &_dst_points_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(1,3,CV_64F);
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temp1 = cvCreateMat(4,1,CV_64F);
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_dst_points = temp;
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_src_points = temp1;
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errcount += run_test_case(CV_StsAssert, "Output and input data sizes mismatch" );
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_dst_points = &_dst_points_orig;
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_src_points = &_src_points_orig;
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cvReleaseMat(&temp);
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cvReleaseMat(&temp1);
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temp = cvCreateMat(1,3,CV_32S);
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_dst_points = temp;
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errcount += run_test_case(CV_StsAssert, "Invalid output data matrix type" );
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_dst_points = &_dst_points_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(1,3,CV_32S);
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_src_points = temp;
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errcount += run_test_case(CV_StsAssert, "Invalid input data matrix type" );
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_src_points = &_src_points_orig;
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cvReleaseMat(&temp);
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//------------
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temp = cvCreateMat(2,3,CV_64F);
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_camera_mat = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
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_camera_mat = &_camera_mat_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(3,4,CV_64F);
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_camera_mat = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
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_camera_mat = &_camera_mat_orig;
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cvReleaseMat(&temp);
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temp = (CvMat*)temp_img;
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_camera_mat = temp;
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errcount += run_test_case( CV_StsAssert, "Camera data is not CvMat*" );
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_camera_mat = &_camera_mat_orig;
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//----------
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temp = (CvMat*)temp_img;
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_distortion_coeffs = temp;
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errcount += run_test_case( CV_StsAssert, "Distortion coefficients data is not CvMat*" );
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_distortion_coeffs = &_distortion_coeffs_orig;
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temp = cvCreateMat(1,6,CV_64F);
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_distortion_coeffs = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
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_distortion_coeffs = &_distortion_coeffs_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(3,3,CV_64F);
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_distortion_coeffs = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
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_distortion_coeffs = &_distortion_coeffs_orig;
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cvReleaseMat(&temp);
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//----------
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temp = (CvMat*)temp_img;
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matR = temp;
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errcount += run_test_case( CV_StsAssert, "R data is not CvMat*" );
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matR = &_R_orig;
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temp = cvCreateMat(4,3,CV_64F);
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matR = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
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matR = &_R_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(3,2,CV_64F);
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matR = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
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matR = &_R_orig;
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cvReleaseMat(&temp);
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//-----------
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temp = (CvMat*)temp_img;
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matP = temp;
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errcount += run_test_case( CV_StsAssert, "P data is not CvMat*" );
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matP = &_P_orig;
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temp = cvCreateMat(4,3,CV_64F);
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matP = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid P data matrix size" );
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matP = &_P_orig;
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cvReleaseMat(&temp);
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temp = cvCreateMat(3,2,CV_64F);
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matP = temp;
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errcount += run_test_case( CV_StsAssert, "Invalid P data matrix size" );
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matP = &_P_orig;
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cvReleaseMat(&temp);
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//------------
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//C++ tests
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useCPlus = true;
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camera_mat = cv::Mat(&_camera_mat_orig);
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distortion_coeffs = cv::Mat(&_distortion_coeffs_orig);
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P = cv::Mat(&_P_orig);
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R = cv::Mat(&_R_orig);
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src_points = cv::Mat(&_src_points_orig);
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temp = cvCreateMat(2,2,CV_32FC2);
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src_points = cv::Mat(temp);
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errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" );
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src_points = cv::Mat(&_src_points_orig);
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cvReleaseMat(&temp);
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temp = cvCreateMat(1,4,CV_64FC2);
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src_points = cv::Mat(temp);
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errcount += run_test_case( CV_StsAssert, "Invalid input data matrix type" );
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src_points = cv::Mat(&_src_points_orig);
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cvReleaseMat(&temp);
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src_points = cv::Mat();
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errcount += run_test_case( CV_StsAssert, "Input data matrix is not continuous" );
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src_points = cv::Mat(&_src_points_orig);
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cvReleaseMat(&temp);
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//------------
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cvReleaseImage(&temp_img);
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ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
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}
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//=========
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class CV_InitUndistortRectifyMapBadArgTest : public cvtest::BadArgTest
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{
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public:
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CV_InitUndistortRectifyMapBadArgTest();
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protected:
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void run(int);
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void run_func();
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private:
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//common
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cv::Size img_size;
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bool useCPlus;
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//C
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CvMat* _camera_mat;
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CvMat* matR;
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CvMat* _new_camera_mat;
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CvMat* _distortion_coeffs;
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CvMat* _mapx;
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CvMat* _mapy;
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//C++
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cv::Mat camera_mat;
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cv::Mat R;
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cv::Mat new_camera_mat;
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cv::Mat distortion_coeffs;
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cv::Mat mapx;
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cv::Mat mapy;
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int mat_type;
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};
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CV_InitUndistortRectifyMapBadArgTest::CV_InitUndistortRectifyMapBadArgTest ()
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{
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}
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void CV_InitUndistortRectifyMapBadArgTest::run_func()
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{
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if (useCPlus)
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{
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cv::initUndistortRectifyMap(camera_mat,distortion_coeffs,R,new_camera_mat,img_size,mat_type,mapx,mapy);
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}
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else
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{
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cvInitUndistortRectifyMap(_camera_mat,_distortion_coeffs,matR,_new_camera_mat,_mapx,_mapy);
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}
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}
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void CV_InitUndistortRectifyMapBadArgTest::run(int)
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{
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int errcount = 0;
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//initializing
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img_size.width = 800;
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img_size.height = 600;
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double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f};
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double dist[4] = {0.01,0.02,0.001,0.0005};
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float* arr_mapx = new float[img_size.width*img_size.height];
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float* arr_mapy = new float[img_size.width*img_size.height];
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double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
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double r[9] = {1,0,0,0,1,0,0,0,1};
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CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
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CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
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CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
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CvMat _R_orig = cvMat(3,3,CV_64F,r);
|
||
|
|
CvMat _mapx_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_mapx);
|
||
|
|
CvMat _mapy_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_mapy);
|
||
|
|
int mat_type_orig = CV_32FC1;
|
||
|
|
|
||
|
|
_camera_mat = &_camera_mat_orig;
|
||
|
|
_distortion_coeffs = &_distortion_coeffs_orig;
|
||
|
|
_new_camera_mat = &_new_camera_mat_orig;
|
||
|
|
matR = &_R_orig;
|
||
|
|
_mapx = &_mapx_orig;
|
||
|
|
_mapy = &_mapy_orig;
|
||
|
|
mat_type = mat_type_orig;
|
||
|
|
|
||
|
|
//tests
|
||
|
|
useCPlus = true;
|
||
|
|
CvMat* temp;
|
||
|
|
|
||
|
|
//C++ tests
|
||
|
|
useCPlus = true;
|
||
|
|
|
||
|
|
camera_mat = cv::Mat(&_camera_mat_orig);
|
||
|
|
distortion_coeffs = cv::Mat(&_distortion_coeffs_orig);
|
||
|
|
new_camera_mat = cv::Mat(&_new_camera_mat_orig);
|
||
|
|
R = cv::Mat(&_R_orig);
|
||
|
|
mapx = cv::Mat(&_mapx_orig);
|
||
|
|
mapy = cv::Mat(&_mapy_orig);
|
||
|
|
|
||
|
|
|
||
|
|
mat_type = CV_64F;
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Invalid map matrix type" );
|
||
|
|
mat_type = mat_type_orig;
|
||
|
|
|
||
|
|
temp = cvCreateMat(3,2,CV_32FC1);
|
||
|
|
camera_mat = cv::Mat(temp);
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
|
||
|
|
camera_mat = cv::Mat(&_camera_mat_orig);
|
||
|
|
cvReleaseMat(&temp);
|
||
|
|
|
||
|
|
temp = cvCreateMat(4,3,CV_32FC1);
|
||
|
|
R = cv::Mat(temp);
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
|
||
|
|
R = cv::Mat(&_R_orig);
|
||
|
|
cvReleaseMat(&temp);
|
||
|
|
|
||
|
|
temp = cvCreateMat(6,1,CV_32FC1);
|
||
|
|
distortion_coeffs = cv::Mat(temp);
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
|
||
|
|
distortion_coeffs = cv::Mat(&_distortion_coeffs_orig);
|
||
|
|
cvReleaseMat(&temp);
|
||
|
|
|
||
|
|
//------------
|
||
|
|
delete[] arr_mapx;
|
||
|
|
delete[] arr_mapy;
|
||
|
|
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
//=========
|
||
|
|
class CV_UndistortBadArgTest : public cvtest::BadArgTest
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
CV_UndistortBadArgTest();
|
||
|
|
protected:
|
||
|
|
void run(int);
|
||
|
|
void run_func();
|
||
|
|
|
||
|
|
private:
|
||
|
|
//common
|
||
|
|
cv::Size img_size;
|
||
|
|
bool useCPlus;
|
||
|
|
|
||
|
|
//C
|
||
|
|
CvMat* _camera_mat;
|
||
|
|
CvMat* _new_camera_mat;
|
||
|
|
CvMat* _distortion_coeffs;
|
||
|
|
CvMat* _src;
|
||
|
|
CvMat* _dst;
|
||
|
|
|
||
|
|
|
||
|
|
//C++
|
||
|
|
cv::Mat camera_mat;
|
||
|
|
cv::Mat new_camera_mat;
|
||
|
|
cv::Mat distortion_coeffs;
|
||
|
|
cv::Mat src;
|
||
|
|
cv::Mat dst;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
CV_UndistortBadArgTest::CV_UndistortBadArgTest ()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void CV_UndistortBadArgTest::run_func()
|
||
|
|
{
|
||
|
|
if (useCPlus)
|
||
|
|
{
|
||
|
|
cv::undistort(src,dst,camera_mat,distortion_coeffs,new_camera_mat);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
cvUndistort2(_src,_dst,_camera_mat,_distortion_coeffs,_new_camera_mat);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void CV_UndistortBadArgTest::run(int)
|
||
|
|
{
|
||
|
|
int errcount = 0;
|
||
|
|
//initializing
|
||
|
|
img_size.width = 800;
|
||
|
|
img_size.height = 600;
|
||
|
|
double cam[9] = {150.f, 0.f, img_size.width/2.f, 0, 300.f, img_size.height/2.f, 0.f, 0.f, 1.f};
|
||
|
|
double dist[4] = {0.01,0.02,0.001,0.0005};
|
||
|
|
float* arr_src = new float[img_size.width*img_size.height];
|
||
|
|
float* arr_dst = new float[img_size.width*img_size.height];
|
||
|
|
double arr_new_camera_mat[9] = {155.f, 0.f, img_size.width/2.f+img_size.width/50.f, 0, 310.f, img_size.height/2.f+img_size.height/50.f, 0.f, 0.f, 1.f};
|
||
|
|
|
||
|
|
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
|
||
|
|
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
|
||
|
|
CvMat _new_camera_mat_orig = cvMat(3,3,CV_64F,arr_new_camera_mat);
|
||
|
|
CvMat _src_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_src);
|
||
|
|
CvMat _dst_orig = cvMat(img_size.height,img_size.width,CV_32FC1,arr_dst);
|
||
|
|
|
||
|
|
_camera_mat = &_camera_mat_orig;
|
||
|
|
_distortion_coeffs = &_distortion_coeffs_orig;
|
||
|
|
_new_camera_mat = &_new_camera_mat_orig;
|
||
|
|
_src = &_src_orig;
|
||
|
|
_dst = &_dst_orig;
|
||
|
|
|
||
|
|
//tests
|
||
|
|
useCPlus = true;
|
||
|
|
CvMat* temp;
|
||
|
|
CvMat* temp1;
|
||
|
|
|
||
|
|
//C tests
|
||
|
|
useCPlus = false;
|
||
|
|
|
||
|
|
temp = cvCreateMat(800,600,CV_32F);
|
||
|
|
temp1 = cvCreateMat(800,601,CV_32F);
|
||
|
|
_src = temp;
|
||
|
|
_dst = temp1;
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Input and output data matrix sizes mismatch" );
|
||
|
|
_src = &_src_orig;
|
||
|
|
_dst = &_dst_orig;
|
||
|
|
cvReleaseMat(&temp);
|
||
|
|
cvReleaseMat(&temp1);
|
||
|
|
|
||
|
|
temp = cvCreateMat(800,600,CV_32F);
|
||
|
|
temp1 = cvCreateMat(800,600,CV_64F);
|
||
|
|
_src = temp;
|
||
|
|
_dst = temp1;
|
||
|
|
errcount += run_test_case( CV_StsAssert, "Input and output data matrix types mismatch" );
|
||
|
|
_src = &_src_orig;
|
||
|
|
_dst = &_dst_orig;
|
||
|
|
cvReleaseMat(&temp);
|
||
|
|
cvReleaseMat(&temp1);
|
||
|
|
|
||
|
|
//C++ tests
|
||
|
|
useCPlus = true;
|
||
|
|
|
||
|
|
camera_mat = cv::Mat(&_camera_mat_orig);
|
||
|
|
distortion_coeffs = cv::Mat(&_distortion_coeffs_orig);
|
||
|
|
new_camera_mat = cv::Mat(&_new_camera_mat_orig);
|
||
|
|
src = cv::Mat(&_src_orig);
|
||
|
|
dst = cv::Mat(&_dst_orig);
|
||
|
|
|
||
|
|
//------------
|
||
|
|
delete[] arr_src;
|
||
|
|
delete[] arr_dst;
|
||
|
|
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(Calib3d_UndistortPoints, badarg) { CV_UndistortPointsBadArgTest test; test.safe_run(); }
|
||
|
|
TEST(Calib3d_InitUndistortRectifyMap, badarg) { CV_InitUndistortRectifyMapBadArgTest test; test.safe_run(); }
|
||
|
|
TEST(Calib3d_Undistort, badarg) { CV_UndistortBadArgTest test; test.safe_run(); }
|
||
|
|
|
||
|
|
/* End of file. */
|