217 lines
7.8 KiB
C++
217 lines
7.8 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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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 the copyright holders 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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using namespace cv;
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using namespace std;
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class Differential
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{
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public:
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typedef Mat_<double> mat_t;
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Differential(double eps_, const mat_t& rv1_, const mat_t& tv1_, const mat_t& rv2_, const mat_t& tv2_)
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: rv1(rv1_), tv1(tv1_), rv2(rv2_), tv2(tv2_), eps(eps_), ev(3, 1) {}
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void dRv1(mat_t& dr3_dr1, mat_t& dt3_dr1)
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{
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dr3_dr1.create(3, 3); dt3_dr1.create(3, 3);
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for(int i = 0; i < 3; ++i)
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{
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ev.setTo(Scalar(0)); ev(i, 0) = eps;
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composeRT( rv1 + ev, tv1, rv2, tv2, rv3_p, tv3_p);
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composeRT( rv1 - ev, tv1, rv2, tv2, rv3_m, tv3_m);
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dr3_dr1.col(i) = rv3_p - rv3_m;
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dt3_dr1.col(i) = tv3_p - tv3_m;
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}
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dr3_dr1 /= 2 * eps; dt3_dr1 /= 2 * eps;
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}
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void dRv2(mat_t& dr3_dr2, mat_t& dt3_dr2)
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{
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dr3_dr2.create(3, 3); dt3_dr2.create(3, 3);
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for(int i = 0; i < 3; ++i)
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{
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ev.setTo(Scalar(0)); ev(i, 0) = eps;
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composeRT( rv1, tv1, rv2 + ev, tv2, rv3_p, tv3_p);
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composeRT( rv1, tv1, rv2 - ev, tv2, rv3_m, tv3_m);
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dr3_dr2.col(i) = rv3_p - rv3_m;
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dt3_dr2.col(i) = tv3_p - tv3_m;
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}
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dr3_dr2 /= 2 * eps; dt3_dr2 /= 2 * eps;
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}
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void dTv1(mat_t& drt3_dt1, mat_t& dt3_dt1)
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{
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drt3_dt1.create(3, 3); dt3_dt1.create(3, 3);
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for(int i = 0; i < 3; ++i)
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{
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ev.setTo(Scalar(0)); ev(i, 0) = eps;
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composeRT( rv1, tv1 + ev, rv2, tv2, rv3_p, tv3_p);
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composeRT( rv1, tv1 - ev, rv2, tv2, rv3_m, tv3_m);
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drt3_dt1.col(i) = rv3_p - rv3_m;
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dt3_dt1.col(i) = tv3_p - tv3_m;
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}
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drt3_dt1 /= 2 * eps; dt3_dt1 /= 2 * eps;
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}
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void dTv2(mat_t& dr3_dt2, mat_t& dt3_dt2)
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{
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dr3_dt2.create(3, 3); dt3_dt2.create(3, 3);
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for(int i = 0; i < 3; ++i)
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{
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ev.setTo(Scalar(0)); ev(i, 0) = eps;
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composeRT( rv1, tv1, rv2, tv2 + ev, rv3_p, tv3_p);
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composeRT( rv1, tv1, rv2, tv2 - ev, rv3_m, tv3_m);
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dr3_dt2.col(i) = rv3_p - rv3_m;
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dt3_dt2.col(i) = tv3_p - tv3_m;
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}
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dr3_dt2 /= 2 * eps; dt3_dt2 /= 2 * eps;
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}
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private:
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const mat_t& rv1, tv1, rv2, tv2;
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double eps;
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Mat_<double> ev;
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Differential& operator=(const Differential&);
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Mat rv3_m, tv3_m, rv3_p, tv3_p;
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};
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class CV_composeRT_Test : public cvtest::BaseTest
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{
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public:
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CV_composeRT_Test() {}
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~CV_composeRT_Test() {}
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protected:
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void run(int)
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{
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cvtest::TS& ts = *this->ts;
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ts.set_failed_test_info(cvtest::TS::OK);
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Mat_<double> rvec1(3, 1), tvec1(3, 1), rvec2(3, 1), tvec2(3, 1);
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randu(rvec1, Scalar(0), Scalar(6.29));
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randu(rvec2, Scalar(0), Scalar(6.29));
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randu(tvec1, Scalar(-2), Scalar(2));
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randu(tvec2, Scalar(-2), Scalar(2));
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Mat rvec3, tvec3;
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composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3);
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Mat rvec3_exp, tvec3_exp;
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Mat rmat1, rmat2;
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Rodrigues(rvec1, rmat1);
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Rodrigues(rvec2, rmat2);
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Rodrigues(rmat2 * rmat1, rvec3_exp);
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tvec3_exp = rmat2 * tvec1 + tvec2;
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const double thres = 1e-5;
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if (norm(rvec3_exp, rvec3) > thres || norm(tvec3_exp, tvec3) > thres)
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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const double eps = 1e-3;
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Differential diff(eps, rvec1, tvec1, rvec2, tvec2);
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Mat dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2;
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composeRT(rvec1, tvec1, rvec2, tvec2, rvec3, tvec3,
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dr3dr1, dr3dt1, dr3dr2, dr3dt2, dt3dr1, dt3dt1, dt3dr2, dt3dt2);
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Mat_<double> dr3_dr1, dt3_dr1;
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diff.dRv1(dr3_dr1, dt3_dr1);
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if (norm(dr3_dr1, dr3dr1) > thres || norm(dt3_dr1, dt3dr1) > thres)
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{
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ts.printf( cvtest::TS::LOG, "Invalid derivates by r1\n" );
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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}
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Mat_<double> dr3_dr2, dt3_dr2;
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diff.dRv2(dr3_dr2, dt3_dr2);
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if (norm(dr3_dr2, dr3dr2) > thres || norm(dt3_dr2, dt3dr2) > thres)
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{
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ts.printf( cvtest::TS::LOG, "Invalid derivates by r2\n" );
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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}
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Mat_<double> dr3_dt1, dt3_dt1;
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diff.dTv1(dr3_dt1, dt3_dt1);
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if (norm(dr3_dt1, dr3dt1) > thres || norm(dt3_dt1, dt3dt1) > thres)
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{
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ts.printf( cvtest::TS::LOG, "Invalid derivates by t1\n" );
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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}
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Mat_<double> dr3_dt2, dt3_dt2;
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diff.dTv2(dr3_dt2, dt3_dt2);
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if (norm(dr3_dt2, dr3dt2) > thres || norm(dt3_dt2, dt3dt2) > thres)
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{
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ts.printf( cvtest::TS::LOG, "Invalid derivates by t2\n" );
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ts.set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
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}
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}
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};
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TEST(Calib3d_ComposeRT, accuracy) { CV_composeRT_Test test; test.safe_run(); }
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