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"FAIL() <<" replaced by "ASSERT_*() <<"

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This commit is contained in:
Rostislav Vasilikhin 2022-07-24 18:40:55 +02:00
parent 02d864070a
commit 869123d6f9
1 changed files with 5 additions and 21 deletions
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26
modules/3d/test/test_odometry.cpp
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@ -100,14 +100,8 @@ void OdometryTest::readData(Mat& image, Mat& depth) const
image = imread(imageFilename, 0);
depth = imread(depthFilename, -1);
if(image.empty())
{
FAIL() << "Image " << imageFilename.c_str() << " can not be read" << std::endl;
}
if(depth.empty())
{
FAIL() << "Depth " << depthFilename.c_str() << "can not be read" << std::endl;
}
ASSERT_FALSE(image.empty()) << "Image " << imageFilename.c_str() << " can not be read" << std::endl;
ASSERT_FALSE(depth.empty()) << "Depth " << depthFilename.c_str() << "can not be read" << std::endl;
CV_DbgAssert(image.type() == CV_8UC1);
CV_DbgAssert(depth.type() == CV_16UC1);
@ -161,11 +155,7 @@ void OdometryTest::checkUMats()
bool isComputed = odometry.compute(odf, odf, calcRt);
ASSERT_TRUE(isComputed);
double diff = cv::norm(calcRt, Mat::eye(4, 4, CV_64FC1));
if (diff > idError)
{
FAIL() << "Incorrect transformation between the same frame (not the identity matrix), diff = " << diff << std::endl;
}
ASSERT_FALSE(diff > idError) << "Incorrect transformation between the same frame (not the identity matrix), diff = " << diff << std::endl;
}
void OdometryTest::run()
@ -188,15 +178,9 @@ void OdometryTest::run()
odometry.prepareFrame(odf);
bool isComputed = odometry.compute(odf, odf, calcRt);
if(!isComputed)
{
FAIL() << "Can not find Rt between the same frame" << std::endl;
}
ASSERT_TRUE(isComputed) << "Can not find Rt between the same frame" << std::endl;
double ndiff = cv::norm(calcRt, Mat::eye(4,4,CV_64FC1));
if (ndiff > idError)
{
FAIL() << "Incorrect transformation between the same frame (not the identity matrix), diff = " << ndiff << std::endl;
}
ASSERT_FALSE(ndiff > idError) << "Incorrect transformation between the same frame (not the identity matrix), diff = " << ndiff << std::endl;
// 2. Generate random rigid body motion in some ranges several times (iterCount).
// On each iteration an input frame is warped using generated transformation.