2024-02-19 17:23:05 +08:00
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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using namespace cv;
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// that was easier than using CV_ENUM() macro
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namespace
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{
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using namespace cv;
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struct CullingModeEnum
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{
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static const std::array<TriangleCullingMode, 3> vals;
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static const std::array<std::string, 3> svals;
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CullingModeEnum(TriangleCullingMode v = RASTERIZE_CULLING_NONE) : val(v) {}
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operator TriangleCullingMode() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<CullingModeEnum> all()
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{
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return ::testing::Values(CullingModeEnum(vals[0]),
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CullingModeEnum(vals[1]),
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CullingModeEnum(vals[2]));
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}
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private:
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TriangleCullingMode val;
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};
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const std::array<TriangleCullingMode, 3> CullingModeEnum::vals
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{
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RASTERIZE_CULLING_NONE,
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RASTERIZE_CULLING_CW,
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RASTERIZE_CULLING_CCW
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};
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const std::array<std::string, 3> CullingModeEnum::svals
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{
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std::string("None"),
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std::string("CW"),
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std::string("CCW")
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};
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static inline void PrintTo(const CullingModeEnum &t, std::ostream *os) { t.PrintTo(os); }
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}
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// that was easier than using CV_ENUM() macro
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namespace
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{
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using namespace cv;
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struct ShadingTypeEnum
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{
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static const std::array<TriangleShadingType, 3> vals;
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static const std::array<std::string, 3> svals;
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ShadingTypeEnum(TriangleShadingType v = RASTERIZE_SHADING_WHITE) : val(v) {}
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operator TriangleShadingType() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<ShadingTypeEnum> all()
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{
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return ::testing::Values(ShadingTypeEnum(vals[0]),
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ShadingTypeEnum(vals[1]),
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ShadingTypeEnum(vals[2]));
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}
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private:
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TriangleShadingType val;
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};
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const std::array<TriangleShadingType, 3> ShadingTypeEnum::vals
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{
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RASTERIZE_SHADING_WHITE,
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RASTERIZE_SHADING_FLAT,
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RASTERIZE_SHADING_SHADED
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};
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const std::array<std::string, 3> ShadingTypeEnum::svals
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{
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std::string("White"),
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std::string("Flat"),
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std::string("Shaded")
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};
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static inline void PrintTo(const ShadingTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
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}
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enum class ModelType
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{
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Empty = 0,
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File = 1,
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Clipping = 2,
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Color = 3,
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Centered = 4
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};
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// that was easier than using CV_ENUM() macro
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namespace
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{
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using namespace cv;
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struct ModelTypeEnum
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{
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static const std::array<ModelType, 5> vals;
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static const std::array<std::string, 5> svals;
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ModelTypeEnum(ModelType v = ModelType::Empty) : val(v) {}
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operator ModelType() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<ModelTypeEnum> all()
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{
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return ::testing::Values(ModelTypeEnum(vals[0]),
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ModelTypeEnum(vals[1]),
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ModelTypeEnum(vals[2]),
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ModelTypeEnum(vals[3]),
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ModelTypeEnum(vals[4]));
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}
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private:
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ModelType val;
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};
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const std::array<ModelType, 5> ModelTypeEnum::vals
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{
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ModelType::Empty,
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ModelType::File,
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ModelType::Clipping,
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ModelType::Color,
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ModelType::Centered
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};
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const std::array<std::string, 5> ModelTypeEnum::svals
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{
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std::string("Empty"),
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std::string("File"),
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std::string("Clipping"),
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std::string("Color"),
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std::string("Centered")
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};
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static inline void PrintTo(const ModelTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
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}
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template<typename T>
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std::string printEnum(T v)
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{
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std::ostringstream ss;
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v.PrintTo(&ss);
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return ss.str();
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}
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static Matx44d lookAtMatrixCal(const Vec3d& position, const Vec3d& lookat, const Vec3d& upVector)
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{
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Vec3d w = cv::normalize(position - lookat);
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Vec3d u = cv::normalize(upVector.cross(w));
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Vec3d v = w.cross(u);
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Matx44d res(u[0], u[1], u[2], 0,
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v[0], v[1], v[2], 0,
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w[0], w[1], w[2], 0,
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0, 0, 0, 1.0);
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Matx44d translate(1.0, 0, 0, -position[0],
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0, 1.0, 0, -position[1],
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0, 0, 1.0, -position[2],
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0, 0, 0, 1.0);
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res = res * translate;
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return res;
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}
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static void generateNormals(const std::vector<Vec3f>& points, const std::vector<std::vector<int>>& indices,
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std::vector<Vec3f>& normals)
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{
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std::vector<std::vector<Vec3f>> preNormals(points.size(), std::vector<Vec3f>());
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for (const auto& tri : indices)
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{
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Vec3f p0 = points[tri[0]];
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Vec3f p1 = points[tri[1]];
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Vec3f p2 = points[tri[2]];
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Vec3f cross = cv::normalize((p1 - p0).cross(p2 - p0));
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for (int i = 0; i < 3; i++)
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{
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preNormals[tri[i]].push_back(cross);
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}
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}
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normals.reserve(points.size());
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for (const auto& pn : preNormals)
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{
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Vec3f sum { };
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for (const auto& n : pn)
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{
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sum += n;
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}
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normals.push_back(cv::normalize(sum));
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}
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}
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// load model once and keep it in static memory
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static void getModelOnce(const std::string& objectPath, std::vector<Vec3f>& vertices,
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std::vector<Vec3i>& indices, std::vector<Vec3f>& colors)
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{
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static bool load = false;
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static std::vector<Vec3f> vert, col;
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static std::vector<Vec3i> ind;
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if (!load)
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{
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std::vector<vector<int>> indvec;
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// using per-vertex normals as colors
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loadMesh(objectPath, vert, indvec);
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generateNormals(vert, indvec, col);
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for (const auto &vec : indvec)
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{
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ind.push_back({vec[0], vec[1], vec[2]});
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}
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for (auto &color : col)
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{
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color = Vec3f(abs(color[0]), abs(color[1]), abs(color[2]));
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}
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load = true;
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}
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vertices = vert;
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colors = col;
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indices = ind;
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}
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class ModelData
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{
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public:
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ModelData(ModelType type = ModelType::Empty)
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{
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switch (type)
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{
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case ModelType::Empty:
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{
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position = Vec3d(0.0, 0.0, 0.0);
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lookat = Vec3d(0.0, 0.0, 0.0);
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upVector = Vec3d(0.0, 1.0, 0.0);
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fovy = 45.0;
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vertices = std::vector<Vec3f>(4, {2.0f, 0, -2.0f});
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colors = std::vector<Vec3f>(4, {0, 0, 1.0f});
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indices = { };
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}
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break;
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case ModelType::File:
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{
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string objectPath = findDataFile("viz/dragon.ply");
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position = Vec3d( 1.9, 0.4, 1.3);
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lookat = Vec3d( 0.0, 0.0, 0.0);
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upVector = Vec3d( 0.0, 1.0, 0.0);
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fovy = 45.0;
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getModelOnce(objectPath, vertices, indices, colors);
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}
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break;
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case ModelType::Clipping:
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{
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position = Vec3d(0.0, 0.0, 5.0);
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lookat = Vec3d(0.0, 0.0, 0.0);
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upVector = Vec3d(0.0, 1.0, 0.0);
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fovy = 45.0;
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vertices =
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{
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{ 2.0, 0.0, -2.0}, { 0.0, -6.0, -2.0}, {-2.0, 0.0, -2.0},
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{ 3.5, -1.0, -5.0}, { 2.5, -2.5, -5.0}, {-1.0, 1.0, -5.0},
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{-6.5, -1.0, -3.0}, {-2.5, -2.0, -3.0}, { 1.0, 1.0, -5.0},
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};
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indices = { {0, 1, 2}, {3, 4, 5}, {6, 7, 8} };
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Vec3f col1(217.0, 238.0, 185.0);
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Vec3f col2(185.0, 217.0, 238.0);
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Vec3f col3(150.0, 10.0, 238.0);
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col1 *= (1.f / 255.f);
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col2 *= (1.f / 255.f);
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col3 *= (1.f / 255.f);
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colors =
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{
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col1, col2, col3,
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col2, col3, col1,
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col3, col1, col2,
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};
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}
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break;
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case ModelType::Centered:
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{
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position = Vec3d(0.0, 0.0, 5.0);
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lookat = Vec3d(0.0, 0.0, 0.0);
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upVector = Vec3d(0.0, 1.0, 0.0);
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fovy = 45.0;
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vertices =
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{
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{ 2.0, 0.0, -2.0}, { 0.0, -2.0, -2.0}, {-2.0, 0.0, -2.0},
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{ 3.5, -1.0, -5.0}, { 2.5, -1.5, -5.0}, {-1.0, 0.5, -5.0},
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};
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indices = { {0, 1, 2}, {3, 4, 5} };
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Vec3f col1(217.0, 238.0, 185.0);
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Vec3f col2(185.0, 217.0, 238.0);
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col1 *= (1.f / 255.f);
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col2 *= (1.f / 255.f);
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colors =
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{
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col1, col2, col1,
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col2, col1, col2,
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};
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}
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break;
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case ModelType::Color:
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{
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position = Vec3d(0.0, 0.0, 5.0);
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lookat = Vec3d(0.0, 0.0, 0.0);
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upVector = Vec3d(0.0, 1.0, 0.0);
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fovy = 60.0;
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vertices =
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{
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{ 2.0, 0.0, -2.0},
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{ 0.0, 2.0, -3.0},
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{-2.0, 0.0, -2.0},
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{ 0.0, -2.0, 1.0},
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};
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indices = { {0, 1, 2}, {0, 2, 3} };
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colors =
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{
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{ 0.0f, 0.0f, 1.0f},
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{ 0.0f, 1.0f, 0.0f},
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{ 1.0f, 0.0f, 0.0f},
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|
|
{ 0.0f, 1.0f, 0.0f},
|
|
|
|
};
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
CV_Error(Error::StsBadArg, "Unknown model type");
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
Vec3d position;
|
|
|
|
Vec3d lookat;
|
|
|
|
Vec3d upVector;
|
|
|
|
|
|
|
|
double fovy;
|
|
|
|
|
|
|
|
std::vector<Vec3f> vertices;
|
|
|
|
std::vector<Vec3i> indices;
|
|
|
|
std::vector<Vec3f> colors;
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
void compareDepth(const cv::Mat& gt, const cv::Mat& mat, cv::Mat& diff, double zFar, double scale,
|
|
|
|
double maskThreshold, double normInfThreshold, double normL2Threshold)
|
|
|
|
{
|
|
|
|
ASSERT_EQ(CV_16UC1, gt.type());
|
|
|
|
ASSERT_EQ(CV_16UC1, mat.type());
|
|
|
|
ASSERT_EQ(gt.size(), mat.size());
|
|
|
|
|
|
|
|
Mat gtMask = gt < zFar*scale;
|
|
|
|
Mat matMask = mat < zFar*scale;
|
|
|
|
|
|
|
|
Mat diffMask = gtMask != matMask;
|
|
|
|
int nzDepthDiff = cv::countNonZero(diffMask);
|
|
|
|
EXPECT_LE(nzDepthDiff, maskThreshold);
|
|
|
|
|
|
|
|
Mat jointMask = gtMask & matMask;
|
|
|
|
int nzJointMask = cv::countNonZero(jointMask);
|
|
|
|
double normInfDepth = cv::norm(gt, mat, cv::NORM_INF, jointMask);
|
|
|
|
EXPECT_LE(normInfDepth, normInfThreshold);
|
|
|
|
double normL2Depth = nzJointMask ? (cv::norm(gt, mat, cv::NORM_L2, jointMask) / nzJointMask) : 0;
|
|
|
|
EXPECT_LE(normL2Depth, normL2Threshold);
|
|
|
|
|
|
|
|
// add --test_debug to output differences
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::cout << "nzDepthDiff: " << nzDepthDiff << " vs " << maskThreshold << std::endl;
|
|
|
|
std::cout << "normInfDepth: " << normInfDepth << " vs " << normInfThreshold << std::endl;
|
|
|
|
std::cout << "normL2Depth: " << normL2Depth << " vs " << normL2Threshold << std::endl;
|
|
|
|
}
|
|
|
|
|
|
|
|
diff = (gt - mat) + (1 << 15);
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void compareRGB(const cv::Mat& gt, const cv::Mat& mat, cv::Mat& diff, double normInfThreshold, double normL2Threshold)
|
|
|
|
{
|
|
|
|
ASSERT_EQ(CV_32FC3, gt.type());
|
|
|
|
ASSERT_EQ(CV_32FC3, mat.type());
|
|
|
|
ASSERT_EQ(gt.size(), mat.size());
|
|
|
|
|
|
|
|
double normInfRgb = cv::norm(gt, mat, cv::NORM_INF);
|
|
|
|
EXPECT_LE(normInfRgb, normInfThreshold);
|
|
|
|
double normL2Rgb = cv::norm(gt, mat, cv::NORM_L2) / gt.total();
|
|
|
|
EXPECT_LE(normL2Rgb, normL2Threshold);
|
|
|
|
// add --test_debug to output differences
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::cout << "normInfRgb: " << normInfRgb << " vs " << normInfThreshold << std::endl;
|
|
|
|
std::cout << "normL2Rgb: " << normL2Rgb << " vs " << normL2Threshold << std::endl;
|
|
|
|
}
|
|
|
|
diff = (gt - mat) * 0.5 + 0.5;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
struct RenderTestThresholds
|
|
|
|
{
|
|
|
|
RenderTestThresholds(
|
|
|
|
double _rgbInfThreshold,
|
|
|
|
double _rgbL2Threshold,
|
|
|
|
double _depthMaskThreshold,
|
|
|
|
double _depthInfThreshold,
|
|
|
|
double _depthL2Threshold) :
|
|
|
|
rgbInfThreshold(_rgbInfThreshold),
|
|
|
|
rgbL2Threshold(_rgbL2Threshold),
|
|
|
|
depthMaskThreshold(_depthMaskThreshold),
|
|
|
|
depthInfThreshold(_depthInfThreshold),
|
|
|
|
depthL2Threshold(_depthL2Threshold)
|
|
|
|
{ }
|
|
|
|
|
|
|
|
double rgbInfThreshold;
|
|
|
|
double rgbL2Threshold;
|
|
|
|
double depthMaskThreshold;
|
|
|
|
double depthInfThreshold;
|
|
|
|
double depthL2Threshold;
|
|
|
|
};
|
|
|
|
|
|
|
|
// resolution, shading type, culling mode, model type, float type, index type
|
|
|
|
typedef std::tuple<std::tuple<int, int>, ShadingTypeEnum, CullingModeEnum, ModelTypeEnum, MatDepth, MatDepth> RenderTestParamType;
|
|
|
|
|
|
|
|
class RenderingTest : public ::testing::TestWithParam<RenderTestParamType>
|
|
|
|
{
|
|
|
|
protected:
|
|
|
|
void SetUp() override
|
|
|
|
{
|
|
|
|
params = GetParam();
|
|
|
|
auto wh = std::get<0>(params);
|
|
|
|
width = std::get<0>(wh);
|
|
|
|
height = std::get<1>(wh);
|
|
|
|
shadingType = std::get<1>(params);
|
|
|
|
cullingMode = std::get<2>(params);
|
|
|
|
modelType = std::get<3>(params);
|
|
|
|
modelData = ModelData(modelType);
|
|
|
|
ftype = std::get<4>(params);
|
|
|
|
itype = std::get<5>(params);
|
|
|
|
|
|
|
|
zNear = 0.1, zFar = 50.0;
|
|
|
|
depthScale = 1000.0;
|
|
|
|
|
|
|
|
depth_buf = Mat(height, width, ftype, zFar);
|
|
|
|
color_buf = Mat(height, width, CV_MAKETYPE(ftype, 3), Scalar::all(0));
|
|
|
|
|
|
|
|
cameraPose = lookAtMatrixCal(modelData.position, modelData.lookat, modelData.upVector);
|
|
|
|
fovYradians = modelData.fovy * (CV_PI / 180.0);
|
|
|
|
|
|
|
|
verts = Mat(modelData.vertices);
|
|
|
|
verts.convertTo(verts, ftype);
|
|
|
|
|
|
|
|
if (shadingType != RASTERIZE_SHADING_WHITE)
|
|
|
|
{
|
2024-04-16 15:20:44 +08:00
|
|
|
// let vertices be in BGR format to avoid later color conversions
|
|
|
|
// mixChannels() does not support in-place operation
|
2024-02-19 17:23:05 +08:00
|
|
|
colors = Mat(modelData.colors);
|
|
|
|
colors.convertTo(colors, ftype);
|
2024-04-16 15:20:44 +08:00
|
|
|
cv::mixChannels(colors.clone(), colors, {0, 2, 1, 1, 2, 0});
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
indices = Mat(modelData.indices);
|
|
|
|
if (itype != CV_32S)
|
|
|
|
{
|
|
|
|
indices.convertTo(indices, itype);
|
|
|
|
}
|
|
|
|
|
|
|
|
settings = TriangleRasterizeSettings().setCullingMode(cullingMode).setShadingType(shadingType);
|
|
|
|
|
|
|
|
triangleRasterize(verts, indices, colors, color_buf, depth_buf,
|
|
|
|
cameraPose, fovYradians, zNear, zFar, settings);
|
|
|
|
}
|
|
|
|
|
|
|
|
public:
|
|
|
|
RenderTestParamType params;
|
|
|
|
int width, height;
|
|
|
|
double zNear, zFar, depthScale;
|
|
|
|
|
|
|
|
Mat depth_buf, color_buf;
|
|
|
|
|
|
|
|
Mat verts, colors, indices;
|
|
|
|
Matx44d cameraPose;
|
|
|
|
double fovYradians;
|
|
|
|
TriangleRasterizeSettings settings;
|
|
|
|
|
|
|
|
ModelData modelData;
|
|
|
|
ModelTypeEnum modelType;
|
|
|
|
ShadingTypeEnum shadingType;
|
|
|
|
CullingModeEnum cullingMode;
|
|
|
|
int ftype, itype;
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
// depth-only or RGB-only rendering should produce the same result as usual rendering
|
|
|
|
TEST_P(RenderingTest, noArrays)
|
|
|
|
{
|
|
|
|
Mat depthOnly(height, width, ftype, zFar);
|
|
|
|
Mat colorOnly(height, width, CV_MAKETYPE(ftype, 3), Scalar::all(0));
|
|
|
|
|
|
|
|
triangleRasterizeDepth(verts, indices, depthOnly, cameraPose, fovYradians, zNear, zFar, settings);
|
|
|
|
triangleRasterizeColor(verts, indices, colors, colorOnly, cameraPose, fovYradians, zNear, zFar, settings);
|
|
|
|
|
|
|
|
Mat rgbDiff, depthDiff;
|
|
|
|
compareRGB(color_buf, colorOnly, rgbDiff, 0, 0);
|
|
|
|
depth_buf.convertTo(depth_buf, CV_16U, depthScale);
|
|
|
|
depthOnly.convertTo(depthOnly, CV_16U, depthScale);
|
|
|
|
compareDepth(depth_buf, depthOnly, depthDiff, zFar, depthScale, 0, 0, 0);
|
|
|
|
|
|
|
|
// add --test_debug to output resulting images
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::string modelName = printEnum(modelType);
|
|
|
|
std::string shadingName = printEnum(shadingType);
|
|
|
|
std::string cullingName = printEnum(cullingMode);
|
|
|
|
std::string suffix = cv::format("%s_%dx%d_Cull%s", modelName.c_str(), width, height, cullingName.c_str());
|
|
|
|
|
|
|
|
std::string outColorPath = "noarray_color_image_" + suffix + "_" + shadingName + ".png";
|
|
|
|
std::string outDepthPath = "noarray_depth_image_" + suffix + "_" + shadingName + ".png";
|
|
|
|
|
|
|
|
imwrite(outColorPath, color_buf * 255.f);
|
|
|
|
imwrite(outDepthPath, depth_buf);
|
|
|
|
imwrite("diff_" + outColorPath, rgbDiff * 255.f);
|
|
|
|
imwrite("diff_" + outDepthPath, depthDiff);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// passing the same parameters in float should give the same result
|
|
|
|
TEST_P(RenderingTest, floatParams)
|
|
|
|
{
|
|
|
|
Mat depth_buf2(height, width, ftype, zFar);
|
|
|
|
Mat color_buf2(height, width, CV_MAKETYPE(ftype, 3), Scalar::all(0));
|
|
|
|
|
|
|
|
// cameraPose can also be float, checking it
|
|
|
|
triangleRasterize(verts, indices, colors, color_buf2, depth_buf2,
|
|
|
|
Matx44f(cameraPose), (float)fovYradians, (float)zNear, (float)zFar, settings);
|
|
|
|
|
|
|
|
RenderTestThresholds thr(0, 0, 0, 0, 0);
|
|
|
|
switch (modelType)
|
|
|
|
{
|
|
|
|
case ModelType::Empty: break;
|
|
|
|
case ModelType::Color: break;
|
|
|
|
case ModelType::Clipping:
|
|
|
|
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.00127;
|
|
|
|
}
|
|
|
|
else if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_NONE)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 3e-7;
|
|
|
|
thr.rgbL2Threshold = 1.86e-10;
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.000406;
|
|
|
|
}
|
|
|
|
else if (width == 256 && height == 256 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 2.39e-07;
|
|
|
|
thr.rgbL2Threshold = 1.86e-10;
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.0016;
|
|
|
|
}
|
|
|
|
else if (width == 256 && height == 256 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.934;
|
|
|
|
thr.rgbL2Threshold = 0.000102;
|
|
|
|
thr.depthMaskThreshold = 21;
|
|
|
|
}
|
|
|
|
else if (width == 640 && height == 480 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
|
|
|
|
{
|
|
|
|
thr.rgbL2Threshold = 1;
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.000248;
|
|
|
|
}
|
|
|
|
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.934;
|
|
|
|
thr.rgbL2Threshold = 3.18e-5;
|
|
|
|
thr.depthMaskThreshold = 114;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case ModelType::File:
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.rgbInfThreshold = 0.000229;
|
|
|
|
thr.rgbL2Threshold = 6.37e-09;
|
|
|
|
thr.depthL2Threshold = 0.000427;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.rgbInfThreshold = 0.000277;
|
|
|
|
thr.rgbL2Threshold = 1.8e-09;
|
|
|
|
thr.depthL2Threshold = 0.000124;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
|
|
|
|
{
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.depthL2Threshold = 0.000124;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
break;
|
|
|
|
case ModelType::Centered:
|
|
|
|
if (shadingType == RASTERIZE_SHADING_SHADED && cullingMode != RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 3.58e-07;
|
|
|
|
thr.rgbL2Threshold = 1.51e-10;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
Mat rgbDiff, depthDiff;
|
|
|
|
compareRGB(color_buf, color_buf2, rgbDiff, thr.rgbInfThreshold, thr.rgbL2Threshold);
|
|
|
|
depth_buf.convertTo(depth_buf, CV_16U, depthScale);
|
|
|
|
depth_buf2.convertTo(depth_buf2, CV_16U, depthScale);
|
|
|
|
compareDepth(depth_buf, depth_buf2, depthDiff, zFar, depthScale, thr.depthMaskThreshold, thr.depthInfThreshold, thr.depthL2Threshold);
|
|
|
|
|
|
|
|
// add --test_debug to output resulting images
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::string modelName = printEnum(modelType);
|
|
|
|
std::string shadingName = printEnum(shadingType);
|
|
|
|
std::string cullingName = printEnum(cullingMode);
|
|
|
|
std::string suffix = cv::format("%s_%dx%d_Cull%s", modelName.c_str(), width, height, cullingName.c_str());
|
|
|
|
|
|
|
|
std::string outColorPath = "float_color_image_" + suffix + "_" + shadingName + ".png";
|
|
|
|
std::string outDepthPath = "float_depth_image_" + suffix + "_" + shadingName + ".png";
|
|
|
|
|
|
|
|
imwrite(outColorPath, color_buf * 255.f);
|
|
|
|
imwrite(outDepthPath, depth_buf);
|
|
|
|
imwrite("diff_" + outColorPath, rgbDiff * 255.f);
|
|
|
|
imwrite("diff_" + outDepthPath, depthDiff);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// some culling options produce the same pictures, let's join them
|
|
|
|
TriangleCullingMode findSameCulling(ModelType modelType, TriangleShadingType shadingType, TriangleCullingMode cullingMode, bool forRgb)
|
|
|
|
{
|
|
|
|
TriangleCullingMode sameCullingMode = cullingMode;
|
|
|
|
|
|
|
|
if ((modelType == ModelType::Centered && cullingMode == RASTERIZE_CULLING_CCW) ||
|
|
|
|
(modelType == ModelType::Color && cullingMode == RASTERIZE_CULLING_CW) ||
|
|
|
|
(modelType == ModelType::File && shadingType == RASTERIZE_SHADING_WHITE && forRgb) ||
|
|
|
|
(modelType == ModelType::File && cullingMode == RASTERIZE_CULLING_CW))
|
|
|
|
{
|
|
|
|
sameCullingMode = RASTERIZE_CULLING_NONE;
|
|
|
|
}
|
|
|
|
|
|
|
|
return sameCullingMode;
|
|
|
|
}
|
|
|
|
|
|
|
|
// compare rendering results to the ones produced by samples/opengl/opengl_testdata_generator app
|
|
|
|
TEST_P(RenderingTest, accuracy)
|
|
|
|
{
|
|
|
|
depth_buf.convertTo(depth_buf, CV_16U, depthScale);
|
|
|
|
|
|
|
|
if (modelType == ModelType::Empty ||
|
|
|
|
(modelType == ModelType::Centered && cullingMode == RASTERIZE_CULLING_CW) ||
|
|
|
|
(modelType == ModelType::Color && cullingMode == RASTERIZE_CULLING_CCW))
|
|
|
|
{
|
|
|
|
// empty image case
|
|
|
|
EXPECT_EQ(0, cv::norm(color_buf, NORM_INF));
|
|
|
|
|
|
|
|
Mat depthDiff;
|
|
|
|
absdiff(depth_buf, Scalar(zFar * depthScale), depthDiff);
|
|
|
|
EXPECT_EQ(0, cv::norm(depthDiff, cv::NORM_INF));
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
RenderTestThresholds thr(0, 0, 0, 0, 0);
|
|
|
|
switch (modelType)
|
|
|
|
{
|
|
|
|
case ModelType::Centered:
|
|
|
|
if (shadingType == RASTERIZE_SHADING_SHADED)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.00218;
|
|
|
|
thr.rgbL2Threshold = 2.85e-06;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case ModelType::Clipping:
|
|
|
|
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.depthInfThreshold = 1;
|
Merge pull request #25379 from mshabunin:fix-unaligned-filter-5.x
Fix unaligned filters + increase test thresholds (5.x) #25379
Port of #25364 to 5.x + minor changes in 3d tests to pass on RISC-V platform
Failed tests:
```
[ RUN ] AP3P.ctheta1p_nan_23607
/home/ci/opencv/modules/3d/test/test_solvepnp_ransac.cpp:2320: Failure
Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16
[ FAILED ] AP3P.ctheta1p_nan_23607 (1 ms)
[ RUN ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00162132 vs 0.0016
[ FAILED ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.000554117 vs 0.000544
[ FAILED ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S) (27 ms)
```
Related CI PR: https://github.com/opencv/ci-gha-workflow/pull/165
2024-04-10 14:33:10 +08:00
|
|
|
thr.depthL2Threshold = 0.00163;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
else if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_NONE)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.934;
|
|
|
|
thr.rgbL2Threshold = 8.03E-05;
|
|
|
|
thr.depthMaskThreshold = 23;
|
|
|
|
thr.depthInfThreshold = 1;
|
Merge pull request #25379 from mshabunin:fix-unaligned-filter-5.x
Fix unaligned filters + increase test thresholds (5.x) #25379
Port of #25364 to 5.x + minor changes in 3d tests to pass on RISC-V platform
Failed tests:
```
[ RUN ] AP3P.ctheta1p_nan_23607
/home/ci/opencv/modules/3d/test/test_solvepnp_ransac.cpp:2320: Failure
Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16
[ FAILED ] AP3P.ctheta1p_nan_23607 (1 ms)
[ RUN ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00162132 vs 0.0016
[ FAILED ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.000554117 vs 0.000544
[ FAILED ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S) (27 ms)
```
Related CI PR: https://github.com/opencv/ci-gha-workflow/pull/165
2024-04-10 14:33:10 +08:00
|
|
|
thr.depthL2Threshold = 0.000555;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
else if (width == 256 && height == 256 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.0022;
|
|
|
|
thr.rgbL2Threshold = 2.54E-06;
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.00175;
|
|
|
|
}
|
|
|
|
else if (width == 256 && height == 256 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.934;
|
|
|
|
thr.rgbL2Threshold = 0.000102;
|
|
|
|
thr.depthMaskThreshold = 21;
|
|
|
|
}
|
|
|
|
else if (width == 640 && height == 480 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 1;
|
|
|
|
thr.rgbL2Threshold = 3.95E-05;
|
|
|
|
thr.depthMaskThreshold = 49;
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
thr.depthL2Threshold = 0.000269;
|
|
|
|
}
|
|
|
|
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_FLAT && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.934;
|
|
|
|
thr.rgbL2Threshold = 3.27e-5;
|
|
|
|
thr.depthMaskThreshold = 121;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case ModelType::Color:
|
|
|
|
thr.depthInfThreshold = 1;
|
|
|
|
if (width == 320 && height == 240)
|
|
|
|
{
|
Merge pull request #25379 from mshabunin:fix-unaligned-filter-5.x
Fix unaligned filters + increase test thresholds (5.x) #25379
Port of #25364 to 5.x + minor changes in 3d tests to pass on RISC-V platform
Failed tests:
```
[ RUN ] AP3P.ctheta1p_nan_23607
/home/ci/opencv/modules/3d/test/test_solvepnp_ransac.cpp:2320: Failure
Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16
[ FAILED ] AP3P.ctheta1p_nan_23607 (1 ms)
[ RUN ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/4, where GetParam() = ((320, 240), Flat, CW, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00102317 vs 0.000989
[ FAILED ] Rendering/RenderingTest.accuracy/5, where GetParam() = ((320, 240), Shaded, None, Color, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.00162132 vs 0.0016
[ FAILED ] Rendering/RenderingTest.accuracy/8, where GetParam() = ((320, 240), Flat, CW, Clipping, CV_32F, CV_32S) (22 ms)
[ RUN ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S)
/home/ci/opencv/modules/3d/test/test_rendering.cpp:430: Failure
Expected: (normL2Depth) <= (normL2Threshold), actual: 0.000554117 vs 0.000544
[ FAILED ] Rendering/RenderingTest.accuracy/9, where GetParam() = ((320, 240), Shaded, None, Clipping, CV_32F, CV_32S) (27 ms)
```
Related CI PR: https://github.com/opencv/ci-gha-workflow/pull/165
2024-04-10 14:33:10 +08:00
|
|
|
thr.depthL2Threshold = 0.00103;
|
2024-02-19 17:23:05 +08:00
|
|
|
}
|
|
|
|
else if (width == 256 && height == 256)
|
|
|
|
{
|
|
|
|
thr.depthL2Threshold = 0.000785;
|
|
|
|
}
|
|
|
|
if (shadingType == RASTERIZE_SHADING_SHADED)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.0022;
|
|
|
|
thr.rgbL2Threshold = 3.13e-06;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
case ModelType::File:
|
|
|
|
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CCW)
|
|
|
|
{
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.rgbInfThreshold = 0.836;
|
|
|
|
thr.rgbL2Threshold = 2.08e-05;
|
|
|
|
thr.depthMaskThreshold = 1;
|
2024-02-19 17:23:05 +08:00
|
|
|
thr.depthInfThreshold = 99;
|
|
|
|
thr.depthL2Threshold = 0.00544;
|
|
|
|
}
|
|
|
|
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
|
|
|
|
{
|
|
|
|
thr.rgbInfThreshold = 0.973;
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.rgbL2Threshold = 5.2e-06;
|
|
|
|
thr.depthMaskThreshold = 4;
|
2024-02-19 17:23:05 +08:00
|
|
|
thr.depthInfThreshold = 258;
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
thr.depthL2Threshold = 0.00228;
|
2024-02-19 17:23:05 +08:00
|
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}
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else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
|
|
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{
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thr.rgbInfThreshold = 1;
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
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thr.rgbL2Threshold = 7.07e-06;
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thr.depthMaskThreshold = 4;
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2024-02-19 17:23:05 +08:00
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thr.depthInfThreshold = 258;
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
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thr.depthL2Threshold = 0.00228;
|
2024-02-19 17:23:05 +08:00
|
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}
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break;
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default:
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break;
|
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}
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CullingModeEnum cullingModeRgb = findSameCulling(modelType, shadingType, cullingMode, true);
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CullingModeEnum cullingModeDepth = findSameCulling(modelType, shadingType, cullingMode, false);
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std::string modelName = printEnum(modelType);
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std::string shadingName = printEnum(shadingType);
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std::string cullingName = printEnum(cullingMode);
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std::string cullingRgbName = printEnum(cullingModeRgb);
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std::string cullingDepthName = printEnum(cullingModeDepth);
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std::string path = findDataDirectory("rendering");
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std::string suffix = cv::format("%s_%dx%d_Cull%s", modelName.c_str(), width, height, cullingName.c_str());
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std::string suffixRgb = cv::format("%s_%dx%d_Cull%s", modelName.c_str(), width, height, cullingRgbName.c_str());
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std::string suffixDepth = cv::format("%s_%dx%d_Cull%s", modelName.c_str(), width, height, cullingDepthName.c_str());
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std::string gtPathColor = path + "/example_image_" + suffixRgb + "_" + shadingName + ".png";
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std::string gtPathDepth = path + "/depth_image_" + suffixDepth + ".png";
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|
Mat rgbDiff, depthDiff;
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Mat groundTruthColor = imread(gtPathColor);
|
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groundTruthColor.convertTo(groundTruthColor, CV_32F, (1.f / 255.f));
|
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compareRGB(groundTruthColor, color_buf, rgbDiff, thr.rgbInfThreshold, thr.rgbL2Threshold);
|
|
|
|
|
|
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Mat groundTruthDepth = imread(gtPathDepth, cv::IMREAD_GRAYSCALE | cv::IMREAD_ANYDEPTH);
|
|
|
|
compareDepth(groundTruthDepth, depth_buf, depthDiff, zFar, depthScale, thr.depthMaskThreshold, thr.depthInfThreshold, thr.depthL2Threshold);
|
|
|
|
|
|
|
|
// add --test_debug to output resulting images
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::string outColorPath = "color_image_" + suffix + "_" + shadingName + ".png";
|
|
|
|
std::string outDepthPath = "depth_image_" + suffix + "_" + shadingName + ".png";
|
|
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|
imwrite(outColorPath, color_buf * 255.f);
|
|
|
|
imwrite(outDepthPath, depth_buf);
|
|
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|
imwrite("diff_" + outColorPath, rgbDiff * 255.f);
|
|
|
|
imwrite("diff_" + outDepthPath, depthDiff);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
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|
|
|
|
|
|
|
// drawing model as a whole or as two halves should give the same result
|
|
|
|
TEST_P(RenderingTest, keepDrawnData)
|
|
|
|
{
|
|
|
|
if (modelType != ModelType::Empty)
|
|
|
|
{
|
|
|
|
Mat depth_buf2(height, width, ftype, zFar);
|
|
|
|
Mat color_buf2(height, width, CV_MAKETYPE(ftype, 3), Scalar::all(0));
|
|
|
|
|
|
|
|
Mat idx1, idx2;
|
|
|
|
int nTriangles = (int)indices.total();
|
|
|
|
idx1 = indices.reshape(3, 1)(Range::all(), Range(0, nTriangles / 2));
|
|
|
|
idx2 = indices.reshape(3, 1)(Range::all(), Range(nTriangles / 2, nTriangles));
|
|
|
|
|
|
|
|
triangleRasterize(verts, idx1, colors, color_buf2, depth_buf2, cameraPose, fovYradians, zNear, zFar, settings);
|
|
|
|
triangleRasterize(verts, idx2, colors, color_buf2, depth_buf2, cameraPose, fovYradians, zNear, zFar, settings);
|
|
|
|
|
|
|
|
Mat rgbDiff, depthDiff;
|
|
|
|
compareRGB(color_buf, color_buf2, rgbDiff, 0, 0);
|
|
|
|
depth_buf.convertTo(depth_buf, CV_16U, depthScale);
|
|
|
|
depth_buf2.convertTo(depth_buf2, CV_16U, depthScale);
|
|
|
|
compareDepth(depth_buf, depth_buf2, depthDiff, zFar, depthScale, 0, 0, 0);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
TEST_P(RenderingTest, glCompatibleDepth)
|
|
|
|
{
|
|
|
|
Mat depth_buf2(height, width, ftype, 1.0);
|
|
|
|
|
|
|
|
triangleRasterizeDepth(verts, indices, depth_buf2, cameraPose, fovYradians, zNear, zFar,
|
|
|
|
settings.setGlCompatibleMode(RASTERIZE_COMPAT_INVDEPTH));
|
|
|
|
|
|
|
|
Mat convertedDepth(height, width, ftype);
|
|
|
|
// map from [0, 1] to [zNear, zFar]
|
|
|
|
double scaleNear = (1.0 / zNear);
|
|
|
|
double scaleFar = (1.0 / zFar);
|
|
|
|
for (int y = 0; y < height; y++)
|
|
|
|
{
|
|
|
|
for (int x = 0; x < width; x++)
|
|
|
|
{
|
|
|
|
double z = (double)depth_buf2.at<float>(y, x);
|
|
|
|
convertedDepth.at<float>(y, x) = (float)(1.0 / ((1.0 - z) * scaleNear + z * scaleFar ));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
double normL2Diff = cv::norm(depth_buf, convertedDepth, cv::NORM_L2) / (height * width);
|
Merge pull request #25221 from savuor:rv/bench_3d
OBJ and PLY loaders extention to support texture coordinates and difused colors #25221
### This PR changes
* Texture coordinates support added to `loadMesh()` and `saveMesh()`
* `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce
- This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces
- Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature
- At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file
* PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue`
* `std::vector<cv::Vec3i>` supported as an index array type
* Colors are loaded as [0, 1] floats instead of uchars
- Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy
- Performing uchar conversion does not always makes sense and can be performed by a user if they needs it
* PLY loading fixed: wrong offset ruined x coordinate
* Python tests added for `loadPointCloud` and `loadMesh`
### 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 CMake
2024-04-04 16:04:52 +08:00
|
|
|
const double normL2Threshold = 5.53e-10;
|
2024-02-19 17:23:05 +08:00
|
|
|
EXPECT_LE(normL2Diff, normL2Threshold);
|
|
|
|
// add --test_debug to output differences
|
|
|
|
if (debugLevel > 0)
|
|
|
|
{
|
|
|
|
std::cout << "normL2Diff: " << normL2Diff << " vs " << normL2Threshold << std::endl;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
INSTANTIATE_TEST_CASE_P(Rendering, RenderingTest, ::testing::Values(
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_NONE, ModelType::Centered, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_NONE, ModelType::Centered, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_WHITE, RASTERIZE_CULLING_NONE, ModelType::Centered, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(640, 480), RASTERIZE_SHADING_FLAT, RASTERIZE_CULLING_NONE, ModelType::Centered, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_FLAT, RASTERIZE_CULLING_CW, ModelType::Color, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_NONE, ModelType::Color, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_NONE, ModelType::Color, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_WHITE, RASTERIZE_CULLING_NONE, ModelType::Color, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_FLAT, RASTERIZE_CULLING_CW, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_NONE, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_FLAT, RASTERIZE_CULLING_CCW, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(256, 256), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_CW, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(640, 480), RASTERIZE_SHADING_WHITE, RASTERIZE_CULLING_NONE, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(700, 700), RASTERIZE_SHADING_FLAT, RASTERIZE_CULLING_CCW, ModelType::Clipping, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(320, 240), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_CCW, ModelType::File, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(700, 700), RASTERIZE_SHADING_SHADED, RASTERIZE_CULLING_CW, ModelType::File, CV_32F, CV_32S },
|
|
|
|
RenderTestParamType { std::make_tuple(700, 700), RASTERIZE_SHADING_WHITE, RASTERIZE_CULLING_NONE, ModelType::File, CV_32F, CV_32S }
|
|
|
|
));
|
|
|
|
|
|
|
|
} // namespace ::
|
|
|
|
} // namespace opencv_test
|