opencv/modules/3d/misc/python/test/test_raster.py

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#!/usr/bin/env python
# Python 2/3 compatibility
from __future__ import print_function
import os, numpy
import math
import unittest
import cv2 as cv
from tests_common import NewOpenCVTests
def lookAtMatrixCal(position, lookat, upVector):
tmp = position - lookat
norm = numpy.linalg.norm(tmp)
w = tmp / norm
tmp = numpy.cross(upVector, w)
norm = numpy.linalg.norm(tmp)
u = tmp / norm
v = numpy.cross(w, u)
res = numpy.array([
[u[0], u[1], u[2], 0],
[v[0], v[1], v[2], 0],
[w[0], w[1], w[2], 0],
[0, 0, 0, 1.0]
], dtype=numpy.float32)
translate = numpy.array([
[1.0, 0, 0, -position[0]],
[0, 1.0, 0, -position[1]],
[0, 0, 1.0, -position[2]],
[0, 0, 0, 1.0]
], dtype=numpy.float32)
res = numpy.matmul(res, translate)
return res
class raster_test(NewOpenCVTests):
def prepareData(self):
self.vertices = numpy.array([
[ 2.0, 0.0, -2.0],
[ 0.0, -6.0, -2.0],
[-2.0, 0.0, -2.0],
[ 3.5, -1.0, -5.0],
[ 2.5, -2.5, -5.0],
[-1.0, 1.0, -5.0],
[-6.5, -1.0, -3.0],
[-2.5, -2.0, -3.0],
[ 1.0, 1.0, -5.0],
], dtype=numpy.float32)
self.indices = numpy.array([ [0, 1, 2], [3, 4, 5], [6, 7, 8]], dtype=int)
col1 = [ 185.0, 238.0, 217.0 ]
col2 = [ 238.0, 217.0, 185.0 ]
col3 = [ 238.0, 10.0, 150.0 ]
self.colors = numpy.array([
col1, col2, col3,
col2, col3, col1,
col3, col1, col2,
], dtype=numpy.float32)
self.colors = self.colors / 255.0
self.zNear = 0.1
self.zFar = 50.0
self.fovy = 45.0 * math.pi / 180.0
position = numpy.array([0.0, 0.0, 5.0], dtype=numpy.float32)
lookat = numpy.array([0.0, 0.0, 0.0], dtype=numpy.float32)
upVector = numpy.array([0.0, 1.0, 0.0], dtype=numpy.float32)
self.cameraPose = lookAtMatrixCal(position, lookat, upVector)
self.depth_buf = numpy.ones((240, 320), dtype=numpy.float32) * self.zFar
self.color_buf = numpy.zeros((240, 320, 3), dtype=numpy.float32)
self.settings = cv.TriangleRasterizeSettings().setShadingType(cv.RASTERIZE_SHADING_SHADED)
self.settings = self.settings.setCullingMode(cv.RASTERIZE_CULLING_NONE)
def compareResults(self, needRgb, needDepth):
if needDepth:
depth = self.get_sample('rendering/depth_image_Clipping_320x240_CullNone.png', cv.IMREAD_ANYDEPTH).astype(numpy.float32)
depthFactor = 1000.0
diff = depth/depthFactor - self.depth_buf
norm = numpy.linalg.norm(diff)
self.assertLessEqual(norm, 356.0)
if needRgb:
rgb = self.get_sample('rendering/example_image_Clipping_320x240_CullNone_Shaded.png', cv.IMREAD_ANYCOLOR)
diff = rgb/255.0 - self.color_buf
norm = numpy.linalg.norm(diff)
self.assertLessEqual(norm, 11.62)
def test_rasterizeBoth(self):
self.prepareData()
self.color_buf, self.depth_buf = cv.triangleRasterize(self.vertices, self.indices, self.colors, self.color_buf, self.depth_buf,
self.cameraPose, self.fovy, self.zNear, self.zFar, self.settings)
self.compareResults(needRgb=True, needDepth=True)
def test_rasterizeDepth(self):
self.prepareData()
self.depth_buf = cv.triangleRasterizeDepth(self.vertices, self.indices, self.depth_buf,
self.cameraPose, self.fovy, self.zNear, self.zFar, self.settings)
self.compareResults(needRgb=False, needDepth=True)
def test_rasterizeColor(self):
self.prepareData()
self.color_buf = cv.triangleRasterizeColor(self.vertices, self.indices, self.colors, self.color_buf,
self.cameraPose, self.fovy, self.zNear, self.zFar, self.settings)
self.compareResults(needRgb=True, needDepth=False)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()