opencv/modules/3d/test/test_undistort_badarg.cpp
Vadim Pisarevsky d6c699c014 calib3d module in opencv is split into 3 modules: 3d, calib and stereo.
stereo module in opencv_contrib is renamed to xstereo
2020-12-01 23:42:15 +03:00

271 lines
9.3 KiB
C++

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#include "test_precomp.hpp"
#include "opencv2/core/core_c.h"
namespace opencv_test { namespace {
class CV_UndistortPointsBadArgTest : public cvtest::BadArgTest
{
public:
CV_UndistortPointsBadArgTest();
protected:
void run(int);
void run_func();
private:
//common
cv::Size img_size;
//static const int N_POINTS = 1;
static const int N_POINTS2 = 2;
//C++
cv::Mat camera_mat;
cv::Mat R;
cv::Mat P;
cv::Mat distortion_coeffs;
cv::Mat src_points;
std::vector<cv::Point2f> dst_points;
};
CV_UndistortPointsBadArgTest::CV_UndistortPointsBadArgTest ()
{
}
void CV_UndistortPointsBadArgTest::run_func()
{
cv::undistortPoints(src_points,dst_points,camera_mat,distortion_coeffs,R,P);
}
void CV_UndistortPointsBadArgTest::run(int)
{
//RNG& rng = ts->get_rng();
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};
double s_points[N_POINTS2] = {
static_cast<double>(img_size.width) / 4.0,
static_cast<double>(img_size.height) / 4.0,
};
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};
double r[9] = {1,0,0,0,1,0,0,0,1};
CvMat _camera_mat_orig = cvMat(3,3,CV_64F,cam);
CvMat _distortion_coeffs_orig = cvMat(1,4,CV_64F,dist);
CvMat _P_orig = cvMat(3,3,CV_64F,p);
CvMat _R_orig = cvMat(3,3,CV_64F,r);
CvMat _src_points_orig = cvMat(1,4,CV_64FC2,s_points);
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
P = cv::cvarrToMat(&_P_orig);
R = cv::cvarrToMat(&_R_orig);
src_points = cv::cvarrToMat(&_src_points_orig);
src_points.create(2, 2, CV_32FC2);
errcount += run_test_case( CV_StsAssert, "Invalid input data matrix size" );
src_points = cv::cvarrToMat(&_src_points_orig);
src_points.create(1, 4, CV_64FC2);
errcount += run_test_case( CV_StsAssert, "Invalid input data matrix type" );
src_points = cv::cvarrToMat(&_src_points_orig);
src_points = cv::Mat();
errcount += run_test_case( CV_StsBadArg, "Input data matrix is not continuous" );
src_points = cv::cvarrToMat(&_src_points_orig);
//------------
ts->set_failed_test_info(errcount > 0 ? cvtest::TS::FAIL_BAD_ARG_CHECK : cvtest::TS::OK);
}
//=========
class CV_InitUndistortRectifyMapBadArgTest : public cvtest::BadArgTest
{
public:
CV_InitUndistortRectifyMapBadArgTest();
protected:
void run(int);
void run_func();
private:
cv::Size img_size;
cv::Mat camera_mat;
cv::Mat R;
cv::Mat new_camera_mat;
cv::Mat distortion_coeffs;
cv::Mat mapx;
cv::Mat mapy;
int mat_type;
};
CV_InitUndistortRectifyMapBadArgTest::CV_InitUndistortRectifyMapBadArgTest ()
{
}
void CV_InitUndistortRectifyMapBadArgTest::run_func()
{
cv::initUndistortRectifyMap(camera_mat,distortion_coeffs,R,new_camera_mat,img_size,mat_type,mapx,mapy);
}
void CV_InitUndistortRectifyMapBadArgTest::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};
std::vector<float> arr_mapx(img_size.width*img_size.height);
std::vector<float> arr_mapy(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};
double r[9] = {1,0,0,0,1,0,0,0,1};
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 _R_orig = cvMat(3,3,CV_64F,r);
CvMat _mapx_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapx[0]);
CvMat _mapy_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_mapy[0]);
int mat_type_orig = CV_32FC1;
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig);
R = cv::cvarrToMat(&_R_orig);
mapx = cv::cvarrToMat(&_mapx_orig);
mapy = cv::cvarrToMat(&_mapy_orig);
mat_type = CV_64F;
errcount += run_test_case( CV_StsAssert, "Invalid map matrix type" );
mat_type = mat_type_orig;
camera_mat.create(3, 2, CV_32F);
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
R.create(4, 3, CV_32F);
errcount += run_test_case( CV_StsAssert, "Invalid R data matrix size" );
R = cv::cvarrToMat(&_R_orig);
distortion_coeffs.create(6, 1, CV_32F);
errcount += run_test_case( CV_StsAssert, "Invalid distortion coefficients data matrix size" );
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
//------------
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;
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()
{
cv::undistort(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};
std::vector<float> arr_src(img_size.width*img_size.height);
std::vector<float> arr_dst(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[0]);
CvMat _dst_orig = cvMat(img_size.height,img_size.width,CV_32FC1,&arr_dst[0]);
camera_mat = cv::cvarrToMat(&_camera_mat_orig);
distortion_coeffs = cv::cvarrToMat(&_distortion_coeffs_orig);
new_camera_mat = cv::cvarrToMat(&_new_camera_mat_orig);
src = cv::cvarrToMat(&_src_orig);
dst = cv::cvarrToMat(&_dst_orig);
camera_mat.create(5, 5, CV_64F);
errcount += run_test_case( CV_StsAssert, "Invalid camera data matrix size" );
//------------
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(); }
}} // namespace
/* End of file. */