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opencv/modules/calib/test/test_cameracalibration_badarg.cpp
Vadim Pisarevsky eff6d32337 * refactored the remaining old-style functions in 3d and calib modules to use the new C++ API. 
* extended C++ version of Levenberg-Marquardt (LM) solver to accommodate all features of the C counterpart.
* removed C version of LM solver
* made a few other little changes to make the code compile and run smoothly
2021-06-07 20:55:25 +08:00

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
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// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
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// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
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// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
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//M*/
#include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp"
#include "opencv2/core/types_c.h"
namespace opencv_test { namespace {
class CV_CameraCalibrationBadArgTest : public cvtest::BadArgTest
{
public:
CV_CameraCalibrationBadArgTest() {}
~CV_CameraCalibrationBadArgTest() {}
protected:
void run(int);
void run_func(void) {}
struct C_Caller
{
_InputArray imgPts_arg;
_InputArray objPts_arg;
_OutputArray rvecs_arg;
_OutputArray tvecs_arg;
_OutputArray newObjPts_arg;
_InputOutputArray cameraMatrix_arg;
_InputOutputArray distCoeffs_arg;
std::vector<std::vector<Point2f> > imgPts;
std::vector<std::vector<Point3f> > objPts;
Size imageSize0, imageSize;
int iFixedPoint0, iFixedPoint;
Mat cameraMatrix;
Mat distCoeffs;
std::vector<Mat> rvecs;
std::vector<Mat> tvecs;
std::vector<Point3f> newObjPts;
int flags0, flags;
void initArgs()
{
imgPts_arg = imgPts;
objPts_arg = objPts;
rvecs_arg = rvecs;
tvecs_arg = tvecs;
newObjPts_arg = newObjPts;
cameraMatrix_arg = cameraMatrix;
distCoeffs_arg = distCoeffs;
imageSize = imageSize0;
flags = flags0;
iFixedPoint = iFixedPoint0;
}
void operator()() const
{
calibrateCameraRO(objPts_arg, imgPts_arg, imageSize, iFixedPoint,
cameraMatrix_arg, distCoeffs_arg, rvecs_arg, tvecs_arg,
newObjPts_arg, flags);
}
};
};
void CV_CameraCalibrationBadArgTest::run( int /* start_from */ )
{
const int M = 2;
Size imgSize(800, 600);
Mat_<float> camMat(3, 3);
Mat_<float> distCoeffs0(1, 5);
camMat << 300.f, 0.f, imgSize.width/2.f, 0, 300.f, imgSize.height/2.f, 0.f, 0.f, 1.f;
distCoeffs0 << 1.2f, 0.2f, 0.f, 0.f, 0.f;
ChessBoardGenerator cbg(Size(8,6));
Size corSize = cbg.cornersSize();
vector<Point2f> corners;
cbg(Mat(imgSize, CV_8U, Scalar(0)), camMat, distCoeffs0, corners);
C_Caller caller;
caller.imageSize0 = imgSize;
caller.iFixedPoint0 = -1;
caller.flags0 = 0;
/////////////////////////////
Mat cameraMatrix_cpp;
Mat distCoeffs_cpp;
Mat rvecs_cpp;
Mat tvecs_cpp;
Mat newObjPts_cpp;
std::vector<Point3f> objPts_cpp;
for(int y = 0; y < corSize.height; ++y)
for(int x = 0; x < corSize.width; ++x)
objPts_cpp.push_back(Point3f((float)x, (float)y, 0.f));
caller.objPts.resize(M);
caller.imgPts.resize(M);
for(int i = 0; i < M; i++)
{
caller.objPts[i] = objPts_cpp;
caller.imgPts[i] = corners;
}
caller.cameraMatrix.create(3, 3, CV_32F);
caller.distCoeffs.create(5, 1, CV_32F);
caller.rvecs.clear();
caller.tvecs.clear();
caller.newObjPts.clear();
/* /*//*/ */
int errors = 0;
caller.initArgs();
caller.objPts_arg = noArray();
errors += run_test_case( CV_StsBadArg, "None passed in objPts", caller);
caller.initArgs();
caller.imgPts_arg = noArray();
errors += run_test_case( CV_StsBadArg, "None passed in imgPts", caller );
caller.initArgs();
caller.cameraMatrix_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero passed in cameraMatrix", caller );
caller.initArgs();
caller.distCoeffs_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero passed in distCoeffs", caller );
caller.initArgs();
caller.imageSize.width = -1;
errors += run_test_case( CV_StsOutOfRange, "Bad image width", caller );
caller.initArgs();
caller.imageSize.height = -1;
errors += run_test_case( CV_StsOutOfRange, "Bad image height", caller );
caller.initArgs();
caller.imgPts[0].clear();
errors += run_test_case( CV_StsBadSize, "Bad imgpts[0]", caller );
caller.imgPts[0] = caller.imgPts[1];
caller.initArgs();
caller.objPts[1].clear();
errors += run_test_case( CV_StsBadSize, "Bad objpts[1]", caller );
caller.objPts[1] = caller.objPts[0];
caller.initArgs();
Mat badCM = Mat::zeros(4, 4, CV_64F);
caller.cameraMatrix_arg = badCM;
caller.flags = CALIB_USE_INTRINSIC_GUESS;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
caller.initArgs();
Mat badDC = Mat::zeros(10, 10, CV_64F);
caller.distCoeffs_arg = badDC;
caller.flags = CALIB_USE_INTRINSIC_GUESS;
errors += run_test_case( CV_StsBadArg, "Bad camearaMatrix header", caller );
if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
else
ts->set_failed_test_info(cvtest::TS::OK);
}
class CV_Rodrigues2BadArgTest : public cvtest::BadArgTest
{
public:
CV_Rodrigues2BadArgTest() {}
~CV_Rodrigues2BadArgTest() {}
protected:
void run_func(void) {}
struct C_Caller
{
_InputArray src_arg;
_OutputArray dst_arg, j_arg;
Mat src;
Mat dst;
Mat jacobian;
void initArgs()
{
src_arg = src;
dst_arg = dst;
j_arg = jacobian;
}
void operator()()
{
cv::Rodrigues(src_arg, dst_arg, j_arg);
}
};
void run(int /* start_from */ )
{
Mat src_cpp(3, 1, CV_32F);
Mat dst_cpp(3, 3, CV_32F);
C_Caller caller;
/*/*//*/*/
int errors = 0;
caller.initArgs();
caller.src_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Src is empty matrix", caller );
caller.initArgs();
caller.src = Mat::zeros(3, 1, CV_8U);
errors += run_test_case( CV_StsUnsupportedFormat, "Bad src formart", caller );
caller.initArgs();
caller.src = Mat::zeros(1, 1, CV_32F);
errors += run_test_case( CV_StsBadSize, "Bad src size", caller );
if (errors)
ts->set_failed_test_info(cvtest::TS::FAIL_MISMATCH);
else
ts->set_failed_test_info(cvtest::TS::OK);
}
};
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
class CV_ProjectPoints2BadArgTest : public cvtest::BadArgTest
{
public:
CV_ProjectPoints2BadArgTest() : camMat(3, 3), distCoeffs(1, 5)
{
Size imsSize(800, 600);
camMat << 300.f, 0.f, imsSize.width/2.f, 0, 300.f, imsSize.height/2.f, 0.f, 0.f, 1.f;
distCoeffs << 1.2f, 0.2f, 0.f, 0.f, 0.f;
}
~CV_ProjectPoints2BadArgTest() {}
protected:
void run_func(void) {}
Mat_<float> camMat;
Mat_<float> distCoeffs;
struct C_Caller
{
_InputArray objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg;
_OutputArray imagePoints_arg;
Mat objectPoints;
Mat r_vec;
Mat t_vec;
Mat A;
Mat distCoeffs;
Mat imagePoints;
Mat J;
double aspectRatio0, aspectRatio;
void initArgs()
{
objectPoints_arg = objectPoints;
imagePoints_arg = imagePoints;
rvec_arg = r_vec;
tvec_arg = t_vec;
A_arg = A;
DC_arg = distCoeffs;
aspectRatio = aspectRatio0;
}
void operator()()
{
projectPoints(objectPoints_arg, rvec_arg, tvec_arg, A_arg, DC_arg,
imagePoints_arg, J, aspectRatio );
}
};
void run(int /* start_from */ )
{
C_Caller caller;
const int n = 10;
Mat objectPoints_cpp(1, n, CV_32FC3);
randu(objectPoints_cpp, Scalar::all(1), Scalar::all(10));
caller.objectPoints = objectPoints_cpp;
caller.t_vec = Mat::zeros(1, 3, CV_32F);
Rodrigues(Mat::eye(3, 3, CV_32F), caller.r_vec);
caller.A = Mat::eye(3, 3, CV_32F);
caller.distCoeffs = Mat::zeros(1, 5, CV_32F);
caller.aspectRatio0 = 1.0;
/********************/
int errors = 0;
caller.initArgs();
caller.objectPoints_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero objectPoints", caller );
caller.initArgs();
caller.rvec_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero r_vec", caller );
caller.initArgs();
caller.tvec_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero t_vec", caller );
caller.initArgs();
caller.A_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero camMat", caller );
caller.initArgs();
caller.imagePoints_arg = noArray();
errors += run_test_case( CV_StsBadArg, "Zero imagePoints", caller );
Mat save_rvec = caller.r_vec;
caller.initArgs();
caller.r_vec.create(2, 2, CV_32F);
errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
caller.initArgs();
caller.r_vec.create(1, 3, CV_8U);
errors += run_test_case( CV_StsBadArg, "Bad rvec format", caller );
caller.r_vec = save_rvec;
/****************************/
Mat save_tvec = caller.t_vec;
caller.initArgs();
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
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