mirror of https://github.com/opencv/opencv.git
Merge pull request #22863 from savuor:tsdf_tests_join
### Changes * Duplicated code removal in TSDF tests by implementing them with fixtures and GTest params * e.g. separate OCL tests file removed * as a result, more test cases are covered * the same's done for perf tests ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMakepull/20371/merge
Rostislav Vasilikhin
2 years ago
committed by
GitHub
parent
a423b07149
commit
86c6e07326
8 changed files with 557 additions and 1880 deletions
@ -1,682 +0,0 @@ |
|||||||
// This file is part of OpenCV project.
|
|
||||||
// It is subject to the license terms in the LICENSE file found in the top-level directory
|
|
||||||
// of this distribution and at http://opencv.org/license.html
|
|
||||||
|
|
||||||
#include "../test_precomp.hpp" |
|
||||||
#include "opencv2/ts/ocl_test.hpp" |
|
||||||
|
|
||||||
#ifdef HAVE_OPENCL |
|
||||||
|
|
||||||
namespace opencv_test { |
|
||||||
namespace { |
|
||||||
|
|
||||||
using namespace cv; |
|
||||||
|
|
||||||
/** Reprojects screen point to camera space given z coord. */ |
|
||||||
struct Reprojector |
|
||||||
{ |
|
||||||
Reprojector() {} |
|
||||||
inline Reprojector(Matx33f intr) |
|
||||||
{ |
|
||||||
fxinv = 1.f / intr(0, 0), fyinv = 1.f / intr(1, 1); |
|
||||||
cx = intr(0, 2), cy = intr(1, 2); |
|
||||||
} |
|
||||||
template<typename T> |
|
||||||
inline cv::Point3_<T> operator()(cv::Point3_<T> p) const |
|
||||||
{ |
|
||||||
T x = p.z * (p.x - cx) * fxinv; |
|
||||||
T y = p.z * (p.y - cy) * fyinv; |
|
||||||
return cv::Point3_<T>(x, y, p.z); |
|
||||||
} |
|
||||||
|
|
||||||
float fxinv, fyinv, cx, cy; |
|
||||||
}; |
|
||||||
|
|
||||||
template<class Scene> |
|
||||||
struct RenderInvoker : ParallelLoopBody |
|
||||||
{ |
|
||||||
RenderInvoker(Mat_<float>& _frame, Affine3f _pose, |
|
||||||
Reprojector _reproj, float _depthFactor, bool _onlySemisphere) |
|
||||||
: ParallelLoopBody(), |
|
||||||
frame(_frame), |
|
||||||
pose(_pose), |
|
||||||
reproj(_reproj), |
|
||||||
depthFactor(_depthFactor), |
|
||||||
onlySemisphere(_onlySemisphere) |
|
||||||
{ } |
|
||||||
|
|
||||||
virtual void operator ()(const cv::Range& r) const |
|
||||||
{ |
|
||||||
for (int y = r.start; y < r.end; y++) |
|
||||||
{ |
|
||||||
float* frameRow = frame[y]; |
|
||||||
for (int x = 0; x < frame.cols; x++) |
|
||||||
{ |
|
||||||
float pix = 0; |
|
||||||
|
|
||||||
Point3f orig = pose.translation(); |
|
||||||
// direction through pixel
|
|
||||||
Point3f screenVec = reproj(Point3f((float)x, (float)y, 1.f)); |
|
||||||
float xyt = 1.f / (screenVec.x * screenVec.x + |
|
||||||
screenVec.y * screenVec.y + 1.f); |
|
||||||
Point3f dir = normalize(Vec3f(pose.rotation() * screenVec)); |
|
||||||
// screen space axis
|
|
||||||
dir.y = -dir.y; |
|
||||||
|
|
||||||
const float maxDepth = 20.f; |
|
||||||
const float maxSteps = 256; |
|
||||||
float t = 0.f; |
|
||||||
for (int step = 0; step < maxSteps && t < maxDepth; step++) |
|
||||||
{ |
|
||||||
Point3f p = orig + dir * t; |
|
||||||
float d = Scene::map(p, onlySemisphere); |
|
||||||
if (d < 0.000001f) |
|
||||||
{ |
|
||||||
float depth = std::sqrt(t * t * xyt); |
|
||||||
pix = depth * depthFactor; |
|
||||||
break; |
|
||||||
} |
|
||||||
t += d; |
|
||||||
} |
|
||||||
|
|
||||||
frameRow[x] = pix; |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
Mat_<float>& frame; |
|
||||||
Affine3f pose; |
|
||||||
Reprojector reproj; |
|
||||||
float depthFactor; |
|
||||||
bool onlySemisphere; |
|
||||||
}; |
|
||||||
|
|
||||||
struct Scene |
|
||||||
{ |
|
||||||
virtual ~Scene() {} |
|
||||||
static Ptr<Scene> create(Size sz, Matx33f _intr, float _depthFactor, bool onlySemisphere); |
|
||||||
virtual Mat depth(Affine3f pose) = 0; |
|
||||||
virtual std::vector<Affine3f> getPoses() = 0; |
|
||||||
}; |
|
||||||
|
|
||||||
struct SemisphereScene : Scene |
|
||||||
{ |
|
||||||
const int framesPerCycle = 72; |
|
||||||
const float nCycles = 0.25f; |
|
||||||
const Affine3f startPose = Affine3f(Vec3f(0.f, 0.f, 0.f), Vec3f(1.5f, 0.3f, -2.1f)); |
|
||||||
|
|
||||||
Size frameSize; |
|
||||||
Matx33f intr; |
|
||||||
float depthFactor; |
|
||||||
bool onlySemisphere; |
|
||||||
|
|
||||||
SemisphereScene(Size sz, Matx33f _intr, float _depthFactor, bool _onlySemisphere) : |
|
||||||
frameSize(sz), intr(_intr), depthFactor(_depthFactor), onlySemisphere(_onlySemisphere) |
|
||||||
{ } |
|
||||||
|
|
||||||
static float map(Point3f p, bool onlySemisphere) |
|
||||||
{ |
|
||||||
float plane = p.y + 0.5f; |
|
||||||
Point3f spherePose = p - Point3f(-0.0f, 0.3f, 1.1f); |
|
||||||
float sphereRadius = 0.5f; |
|
||||||
float sphere = (float)cv::norm(spherePose) - sphereRadius; |
|
||||||
float sphereMinusBox = sphere; |
|
||||||
|
|
||||||
float subSphereRadius = 0.05f; |
|
||||||
Point3f subSpherePose = p - Point3f(0.3f, -0.1f, -0.3f); |
|
||||||
float subSphere = (float)cv::norm(subSpherePose) - subSphereRadius; |
|
||||||
|
|
||||||
float res; |
|
||||||
if (!onlySemisphere) |
|
||||||
res = min({ sphereMinusBox, subSphere, plane }); |
|
||||||
else |
|
||||||
res = sphereMinusBox; |
|
||||||
|
|
||||||
return res; |
|
||||||
} |
|
||||||
|
|
||||||
Mat depth(Affine3f pose) override |
|
||||||
{ |
|
||||||
Mat_<float> frame(frameSize); |
|
||||||
Reprojector reproj(intr); |
|
||||||
|
|
||||||
Range range(0, frame.rows); |
|
||||||
parallel_for_(range, RenderInvoker<SemisphereScene>(frame, pose, reproj, depthFactor, onlySemisphere)); |
|
||||||
|
|
||||||
return std::move(frame); |
|
||||||
} |
|
||||||
|
|
||||||
std::vector<Affine3f> getPoses() override |
|
||||||
{ |
|
||||||
std::vector<Affine3f> poses; |
|
||||||
for (int i = 0; i < framesPerCycle * nCycles; i++) |
|
||||||
{ |
|
||||||
float angle = (float)(CV_2PI * i / framesPerCycle); |
|
||||||
Affine3f pose; |
|
||||||
pose = pose.rotate(startPose.rotation()); |
|
||||||
pose = pose.rotate(Vec3f(0.f, -0.5f, 0.f) * angle); |
|
||||||
pose = pose.translate(Vec3f(startPose.translation()[0] * sin(angle), |
|
||||||
startPose.translation()[1], |
|
||||||
startPose.translation()[2] * cos(angle))); |
|
||||||
poses.push_back(pose); |
|
||||||
} |
|
||||||
|
|
||||||
return poses; |
|
||||||
} |
|
||||||
|
|
||||||
}; |
|
||||||
|
|
||||||
Ptr<Scene> Scene::create(Size sz, Matx33f _intr, float _depthFactor, bool _onlySemisphere) |
|
||||||
{ |
|
||||||
return makePtr<SemisphereScene>(sz, _intr, _depthFactor, _onlySemisphere); |
|
||||||
} |
|
||||||
|
|
||||||
// this is a temporary solution
|
|
||||||
// ----------------------------
|
|
||||||
|
|
||||||
typedef cv::Vec4f ptype; |
|
||||||
typedef cv::Mat_< ptype > Points; |
|
||||||
typedef Points Normals; |
|
||||||
typedef Size2i Size; |
|
||||||
|
|
||||||
template<int p> |
|
||||||
inline float specPow(float x) |
|
||||||
{ |
|
||||||
if (p % 2 == 0) |
|
||||||
{ |
|
||||||
float v = specPow<p / 2>(x); |
|
||||||
return v * v; |
|
||||||
} |
|
||||||
else |
|
||||||
{ |
|
||||||
float v = specPow<(p - 1) / 2>(x); |
|
||||||
return v * v * x; |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
template<> |
|
||||||
inline float specPow<0>(float /*x*/) |
|
||||||
{ |
|
||||||
return 1.f; |
|
||||||
} |
|
||||||
|
|
||||||
template<> |
|
||||||
inline float specPow<1>(float x) |
|
||||||
{ |
|
||||||
return x; |
|
||||||
} |
|
||||||
|
|
||||||
inline cv::Vec3f fromPtype(const ptype& x) |
|
||||||
{ |
|
||||||
return cv::Vec3f(x[0], x[1], x[2]); |
|
||||||
} |
|
||||||
|
|
||||||
inline Point3f normalize(const Vec3f& v) |
|
||||||
{ |
|
||||||
double nv = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]); |
|
||||||
return v * (nv ? 1. / nv : 0.); |
|
||||||
} |
|
||||||
|
|
||||||
void renderPointsNormals(InputArray _points, InputArray _normals, OutputArray image, Affine3f lightPose) |
|
||||||
{ |
|
||||||
Size sz = _points.size(); |
|
||||||
image.create(sz, CV_8UC4); |
|
||||||
|
|
||||||
Points points = _points.getMat(); |
|
||||||
Normals normals = _normals.getMat(); |
|
||||||
|
|
||||||
Mat_<Vec4b> img = image.getMat(); |
|
||||||
|
|
||||||
Range range(0, sz.height); |
|
||||||
const int nstripes = -1; |
|
||||||
parallel_for_(range, [&](const Range&) |
|
||||||
{ |
|
||||||
for (int y = range.start; y < range.end; y++) |
|
||||||
{ |
|
||||||
Vec4b* imgRow = img[y]; |
|
||||||
const ptype* ptsRow = points[y]; |
|
||||||
const ptype* nrmRow = normals[y]; |
|
||||||
|
|
||||||
for (int x = 0; x < sz.width; x++) |
|
||||||
{ |
|
||||||
Point3f p = fromPtype(ptsRow[x]); |
|
||||||
Point3f n = fromPtype(nrmRow[x]); |
|
||||||
|
|
||||||
Vec4b color; |
|
||||||
|
|
||||||
if (cvIsNaN(p.x) || cvIsNaN(p.y) || cvIsNaN(p.z)) |
|
||||||
{ |
|
||||||
color = Vec4b(0, 32, 0, 0); |
|
||||||
} |
|
||||||
else |
|
||||||
{ |
|
||||||
const float Ka = 0.3f; //ambient coeff
|
|
||||||
const float Kd = 0.5f; //diffuse coeff
|
|
||||||
const float Ks = 0.2f; //specular coeff
|
|
||||||
const int sp = 20; //specular power
|
|
||||||
|
|
||||||
const float Ax = 1.f; //ambient color, can be RGB
|
|
||||||
const float Dx = 1.f; //diffuse color, can be RGB
|
|
||||||
const float Sx = 1.f; //specular color, can be RGB
|
|
||||||
const float Lx = 1.f; //light color
|
|
||||||
|
|
||||||
Point3f l = normalize(lightPose.translation() - Vec3f(p)); |
|
||||||
Point3f v = normalize(-Vec3f(p)); |
|
||||||
Point3f r = normalize(Vec3f(2.f * n * n.dot(l) - l)); |
|
||||||
|
|
||||||
uchar ix = (uchar)((Ax * Ka * Dx + Lx * Kd * Dx * max(0.f, n.dot(l)) + |
|
||||||
Lx * Ks * Sx * specPow<sp>(max(0.f, r.dot(v)))) * 255.f); |
|
||||||
color = Vec4b(ix, ix, ix, 0); |
|
||||||
} |
|
||||||
|
|
||||||
imgRow[x] = color; |
|
||||||
} |
|
||||||
} |
|
||||||
}, nstripes); |
|
||||||
} |
|
||||||
// ----------------------------
|
|
||||||
|
|
||||||
void displayImage(Mat depth, Mat points, Mat normals, float depthFactor, Vec3f lightPose) |
|
||||||
{ |
|
||||||
Mat image; |
|
||||||
patchNaNs(points); |
|
||||||
imshow("depth", depth * (1.f / depthFactor / 4.f)); |
|
||||||
renderPointsNormals(points, normals, image, lightPose); |
|
||||||
imshow("render", image); |
|
||||||
waitKey(2000); |
|
||||||
destroyAllWindows(); |
|
||||||
} |
|
||||||
|
|
||||||
void normalsCheck(Mat normals) |
|
||||||
{ |
|
||||||
Vec4f vector; |
|
||||||
for (auto pvector = normals.begin<Vec4f>(); pvector < normals.end<Vec4f>(); pvector++) |
|
||||||
{ |
|
||||||
vector = *pvector; |
|
||||||
if (!cvIsNaN(vector[0])) |
|
||||||
{ |
|
||||||
float length = vector[0] * vector[0] + |
|
||||||
vector[1] * vector[1] + |
|
||||||
vector[2] * vector[2]; |
|
||||||
ASSERT_LT(abs(1 - length), 0.0001f) << "There is normal with length != 1"; |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
int counterOfValid(Mat points) |
|
||||||
{ |
|
||||||
Vec4f* v; |
|
||||||
int i, j; |
|
||||||
int count = 0; |
|
||||||
for (i = 0; i < points.rows; ++i) |
|
||||||
{ |
|
||||||
v = (points.ptr<Vec4f>(i)); |
|
||||||
for (j = 0; j < points.cols; ++j) |
|
||||||
{ |
|
||||||
if ((v[j])[0] != 0 || |
|
||||||
(v[j])[1] != 0 || |
|
||||||
(v[j])[2] != 0) |
|
||||||
{ |
|
||||||
count++; |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
return count; |
|
||||||
} |
|
||||||
|
|
||||||
enum class VolumeTestFunction |
|
||||||
{ |
|
||||||
RAYCAST = 0, |
|
||||||
FETCH_NORMALS = 1, |
|
||||||
FETCH_POINTS_NORMALS = 2 |
|
||||||
}; |
|
||||||
|
|
||||||
enum class VolumeTestSrcType |
|
||||||
{ |
|
||||||
MAT = 0, |
|
||||||
ODOMETRY_FRAME = 1 |
|
||||||
}; |
|
||||||
|
|
||||||
void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction testFunction, VolumeTestSrcType testSrcType) |
|
||||||
{ |
|
||||||
VolumeSettings vs(volumeType); |
|
||||||
Volume volume(volumeType, vs); |
|
||||||
|
|
||||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight()); |
|
||||||
Matx33f intrIntegrate, intrRaycast; |
|
||||||
vs.getCameraIntegrateIntrinsics(intrIntegrate); |
|
||||||
vs.getCameraRaycastIntrinsics(intrRaycast); |
|
||||||
bool onlySemisphere = true; |
|
||||||
float depthFactor = vs.getDepthFactor(); |
|
||||||
Vec3f lightPose = Vec3f::all(0.f); |
|
||||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere); |
|
||||||
std::vector<Affine3f> poses = scene->getPoses(); |
|
||||||
|
|
||||||
Mat depth = scene->depth(poses[0]); |
|
||||||
UMat udepth; |
|
||||||
depth.copyTo(udepth); |
|
||||||
UMat upoints, unormals, utmpnormals; |
|
||||||
Mat points, normals; |
|
||||||
AccessFlag af = ACCESS_READ; |
|
||||||
|
|
||||||
OdometryFrame odf(noArray(), udepth); |
|
||||||
|
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
volume.integrate(depth, poses[0].matrix); |
|
||||||
else |
|
||||||
volume.integrate(odf, poses[0].matrix); |
|
||||||
|
|
||||||
if (testFunction == VolumeTestFunction::RAYCAST) |
|
||||||
{ |
|
||||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals); |
|
||||||
} |
|
||||||
else if (testFunction == VolumeTestFunction::FETCH_NORMALS) |
|
||||||
{ |
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
{ |
|
||||||
// takes only point from raycast for checking fetched normals on the display
|
|
||||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals); |
|
||||||
// volume.fetchPointsNormals(upoints, utmpnormals);
|
|
||||||
volume.fetchNormals(upoints, unormals); |
|
||||||
} |
|
||||||
} |
|
||||||
else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS) |
|
||||||
{ |
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
|
|
||||||
{ |
|
||||||
volume.fetchPointsNormals(upoints, unormals); |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
normals = unormals.getMat(af); |
|
||||||
points = upoints.getMat(af); |
|
||||||
|
|
||||||
if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
normalsCheck(normals); |
|
||||||
} |
|
||||||
|
|
||||||
void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction testFunction, VolumeTestSrcType testSrcType) |
|
||||||
{ |
|
||||||
VolumeSettings vs(volumeType); |
|
||||||
Volume volume(volumeType, vs); |
|
||||||
|
|
||||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight()); |
|
||||||
Matx33f intrIntegrate, intrRaycast; |
|
||||||
vs.getCameraIntegrateIntrinsics(intrIntegrate); |
|
||||||
vs.getCameraRaycastIntrinsics(intrRaycast); |
|
||||||
bool onlySemisphere = true; |
|
||||||
float depthFactor = vs.getDepthFactor(); |
|
||||||
Vec3f lightPose = Vec3f::all(0.f); |
|
||||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere); |
|
||||||
std::vector<Affine3f> poses = scene->getPoses(); |
|
||||||
|
|
||||||
Mat depth = scene->depth(poses[0]); |
|
||||||
UMat udepth; |
|
||||||
depth.copyTo(udepth); |
|
||||||
UMat upoints, unormals, utmpnormals; |
|
||||||
Mat points, normals; |
|
||||||
AccessFlag af = ACCESS_READ; |
|
||||||
|
|
||||||
OdometryFrame odf(noArray(), udepth); |
|
||||||
|
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
volume.integrate(depth, poses[0].matrix); |
|
||||||
else |
|
||||||
volume.integrate(odf, poses[0].matrix); |
|
||||||
|
|
||||||
if (testFunction == VolumeTestFunction::RAYCAST) |
|
||||||
{ |
|
||||||
volume.raycast(poses[0].matrix, upoints, unormals); |
|
||||||
} |
|
||||||
else if (testFunction == VolumeTestFunction::FETCH_NORMALS) |
|
||||||
{ |
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
{ |
|
||||||
// takes only point from raycast for checking fetched normals on the display
|
|
||||||
volume.raycast(poses[0].matrix, upoints, utmpnormals); |
|
||||||
//volume.fetchPointsNormals(upoints, utmpnormals);
|
|
||||||
volume.fetchNormals(upoints, unormals); |
|
||||||
} |
|
||||||
} |
|
||||||
else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS) |
|
||||||
{ |
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
|
|
||||||
{ |
|
||||||
volume.fetchPointsNormals(upoints, unormals); |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
normals = unormals.getMat(af); |
|
||||||
points = upoints.getMat(af); |
|
||||||
|
|
||||||
if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
normalsCheck(normals); |
|
||||||
} |
|
||||||
|
|
||||||
void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType testSrcType) |
|
||||||
{ |
|
||||||
VolumeSettings vs(volumeType); |
|
||||||
Volume volume(volumeType, vs); |
|
||||||
|
|
||||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight()); |
|
||||||
Matx33f intrIntegrate, intrRaycast; |
|
||||||
vs.getCameraIntegrateIntrinsics(intrIntegrate); |
|
||||||
vs.getCameraRaycastIntrinsics(intrRaycast); |
|
||||||
bool onlySemisphere = true; |
|
||||||
float depthFactor = vs.getDepthFactor(); |
|
||||||
Vec3f lightPose = Vec3f::all(0.f); |
|
||||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere); |
|
||||||
std::vector<Affine3f> poses = scene->getPoses(); |
|
||||||
|
|
||||||
Mat depth = scene->depth(poses[0]); |
|
||||||
UMat udepth; |
|
||||||
depth.copyTo(udepth); |
|
||||||
UMat upoints, unormals; |
|
||||||
UMat upoints1, unormals1; |
|
||||||
Mat points, normals; |
|
||||||
AccessFlag af = ACCESS_READ; |
|
||||||
int anfas, profile; |
|
||||||
|
|
||||||
OdometryFrame odf(noArray(), udepth); |
|
||||||
|
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
volume.integrate(depth, poses[0].matrix); |
|
||||||
else |
|
||||||
volume.integrate(odf, poses[0].matrix); |
|
||||||
|
|
||||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals); |
|
||||||
|
|
||||||
normals = unormals.getMat(af); |
|
||||||
points = upoints.getMat(af); |
|
||||||
patchNaNs(points); |
|
||||||
anfas = counterOfValid(points); |
|
||||||
|
|
||||||
if (cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints1, unormals1); |
|
||||||
|
|
||||||
normals = unormals1.getMat(af); |
|
||||||
points = upoints1.getMat(af); |
|
||||||
patchNaNs(points); |
|
||||||
profile = counterOfValid(points); |
|
||||||
|
|
||||||
if (cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
// TODO: why profile == 2*anfas ?
|
|
||||||
float percentValidity = float(anfas) / float(profile); |
|
||||||
|
|
||||||
ASSERT_NE(profile, 0) << "There is no points in profile"; |
|
||||||
ASSERT_NE(anfas, 0) << "There is no points in anfas"; |
|
||||||
ASSERT_LT(abs(0.5 - percentValidity), 0.3) << "percentValidity out of [0.3; 0.7] (percentValidity=" << percentValidity << ")"; |
|
||||||
} |
|
||||||
|
|
||||||
void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType testSrcType) |
|
||||||
{ |
|
||||||
VolumeSettings vs(volumeType); |
|
||||||
Volume volume(volumeType, vs); |
|
||||||
|
|
||||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight()); |
|
||||||
Matx33f intrIntegrate, intrRaycast; |
|
||||||
vs.getCameraIntegrateIntrinsics(intrIntegrate); |
|
||||||
vs.getCameraRaycastIntrinsics(intrRaycast); |
|
||||||
bool onlySemisphere = true; |
|
||||||
float depthFactor = vs.getDepthFactor(); |
|
||||||
Vec3f lightPose = Vec3f::all(0.f); |
|
||||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere); |
|
||||||
std::vector<Affine3f> poses = scene->getPoses(); |
|
||||||
|
|
||||||
Mat depth = scene->depth(poses[0]); |
|
||||||
UMat udepth; |
|
||||||
depth.copyTo(udepth); |
|
||||||
UMat upoints, unormals; |
|
||||||
UMat upoints1, unormals1; |
|
||||||
Mat points, normals; |
|
||||||
AccessFlag af = ACCESS_READ; |
|
||||||
int anfas, profile; |
|
||||||
|
|
||||||
OdometryFrame odf(noArray(), udepth); |
|
||||||
|
|
||||||
if (testSrcType == VolumeTestSrcType::MAT) |
|
||||||
volume.integrate(depth, poses[0].matrix); |
|
||||||
else |
|
||||||
volume.integrate(odf, poses[0].matrix); |
|
||||||
|
|
||||||
volume.raycast(poses[0].matrix, upoints, unormals); |
|
||||||
|
|
||||||
normals = unormals.getMat(af); |
|
||||||
points = upoints.getMat(af); |
|
||||||
patchNaNs(points); |
|
||||||
anfas = counterOfValid(points); |
|
||||||
|
|
||||||
if (cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
volume.raycast(poses[17].matrix, upoints1, unormals1); |
|
||||||
|
|
||||||
normals = unormals1.getMat(af); |
|
||||||
points = upoints1.getMat(af); |
|
||||||
patchNaNs(points); |
|
||||||
profile = counterOfValid(points); |
|
||||||
|
|
||||||
if (cvtest::debugLevel > 0) |
|
||||||
displayImage(depth, points, normals, depthFactor, lightPose); |
|
||||||
|
|
||||||
// TODO: why profile == 2*anfas ?
|
|
||||||
float percentValidity = float(anfas) / float(profile); |
|
||||||
|
|
||||||
ASSERT_NE(profile, 0) << "There is no points in profile"; |
|
||||||
ASSERT_NE(anfas, 0) << "There is no points in anfas"; |
|
||||||
ASSERT_LT(abs(0.5 - percentValidity), 0.3) << "percentValidity out of [0.3; 0.7] (percentValidity=" << percentValidity << ")"; |
|
||||||
} |
|
||||||
|
|
||||||
|
|
||||||
TEST(TSDF_GPU, raycast_custom_framesize_normals_mat) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, raycast_custom_framesize_normals_frame) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, raycast_common_framesize_normals_mat) |
|
||||||
{ |
|
||||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, raycast_common_framesize_normals_frame) |
|
||||||
{ |
|
||||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, fetch_points_normals) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, fetch_normals) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, valid_points_custom_framesize_mat) |
|
||||||
{ |
|
||||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, valid_points_custom_framesize_frame) |
|
||||||
{ |
|
||||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, valid_points_common_framesize_mat) |
|
||||||
{ |
|
||||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(TSDF_GPU, valid_points_common_framesize_frame) |
|
||||||
{ |
|
||||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, raycast_custom_framesize_normals_mat) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, raycast_custom_framesize_normals_frame) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, raycast_common_framesize_normals_mat) |
|
||||||
{ |
|
||||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, raycast_common_framesize_normals_frame) |
|
||||||
{ |
|
||||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, fetch_points_normals) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, fetch_normals) |
|
||||||
{ |
|
||||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, valid_points_custom_framesize_mat) |
|
||||||
{ |
|
||||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, valid_points_custom_framesize_frame) |
|
||||||
{ |
|
||||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, valid_points_common_framesize_mat) |
|
||||||
{ |
|
||||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT); |
|
||||||
} |
|
||||||
|
|
||||||
TEST(HashTSDF_GPU, valid_points_common_framesize_frame) |
|
||||||
{ |
|
||||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME); |
|
||||||
} |
|
||||||
|
|
||||||
} |
|
||||||
} // namespace
|
|
||||||
|
|
||||||
#endif |
|
||||||
File diff suppressed because it is too large
Load Diff
Loading…
Reference in new issue