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warpFrame() tests big update
This commit is contained in:
Rostislav Vasilikhin
parent
44c0b58258
commit
492d9dba1e
@ -468,7 +468,22 @@ TEST(RGBD_Odometry_FastICP, prepareFrame)
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}
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void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform)
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struct WarpFrameTest
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{
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WarpFrameTest() :
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srcDepth(), srcRgb(), srcMask(),
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dstDepth(), dstRgb(), dstMask(),
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warpedDepth(), warpedRgb(), warpedMask()
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{}
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void run(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform, int depthType, int imageType);
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Mat srcDepth, srcRgb, srcMask;
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Mat dstDepth, dstRgb, dstMask;
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Mat warpedDepth, warpedRgb, warpedMask;
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};
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void WarpFrameTest::run(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform, int depthType, int rgbType)
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{
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std::string dataPath = cvtest::TS::ptr()->get_data_path();
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std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png";
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@ -477,8 +492,6 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
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std::string warpedDepthFilename = dataPath + "/cv/rgbd/warpedDepth.png";
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std::string warpedRgbFilename = dataPath + "/cv/rgbd/warpedRgb.png";
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Mat srcDepth, srcRgb, warpedDepth, warpedRgb;
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srcDepth = imread(srcDepthFilename, IMREAD_UNCHANGED);
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ASSERT_FALSE(srcDepth.empty()) << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
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@ -495,46 +508,38 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
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ASSERT_TRUE(srcDepth.type() == CV_16UC1);
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ASSERT_TRUE(warpedDepth.type() == CV_16UC1);
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if (needRgb)
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{
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srcRgb = imread(srcRgbFilename);
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ASSERT_FALSE(srcRgb.empty()) << "Image " << srcRgbFilename.c_str() << "can not be read" << std::endl;
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Mat epsSrc = srcDepth > 0, epsWarped = warpedDepth > 0;
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if (identityTransform)
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{
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warpedRgb = srcRgb;
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}
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else
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{
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warpedRgb = imread(warpedRgbFilename);
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ASSERT_FALSE (warpedRgb.empty()) << "Image " << warpedRgbFilename.c_str() << "can not be read" << std::endl;
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}
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const double depthFactor = 5000.0;
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// scale float types only
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double depthScaleCoeff = scaleDown ? ( depthType == CV_16U ? 1. : 1./depthFactor ) : 1.;
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double transScaleCoeff = scaleDown ? ( depthType == CV_16U ? depthFactor : 1. ) : depthFactor;
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ASSERT_TRUE(warpedRgb.type() == CV_8UC3);
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}
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else
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{
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srcRgb = Mat(); warpedRgb = Mat();
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}
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double fx = 525.0, fy = 525.0,
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cx = 319.5, cy = 239.5;
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Matx33d K(fx, 0, cx,
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0, fy, cy,
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0, 0, 1);
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cv::Affine3d rt;
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rt = identityTransform ? cv::Affine3d() : cv::Affine3d(cv::Vec3d(0.1, 0.2, 0.3), cv::Vec3d(-0.04, 0.05, 0.6));
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float scaleCoeff = scaleDown ? 1.f/5000.f : 1.f;
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Mat srcDepthCvt, warpedDepthCvt;
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srcDepth.convertTo(srcDepthCvt, CV_32FC1, scaleCoeff);
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srcDepth.convertTo(srcDepthCvt, depthType, depthScaleCoeff);
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srcDepth = srcDepthCvt;
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warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, scaleCoeff);
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warpedDepth.convertTo(warpedDepthCvt, depthType, depthScaleCoeff);
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warpedDepth = warpedDepthCvt;
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//TODO: check that NaNs in depth work the same as explicit mask
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Mat epsSrc = srcDepth >= FLT_EPSILON, epsWarped = warpedDepth >= FLT_EPSILON;
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Mat srcMask, warpedMask;
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Scalar badVal;
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switch (depthType)
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{
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case CV_16U:
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badVal = 0;
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break;
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case CV_32F:
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badVal = std::numeric_limits<float>::quiet_NaN();
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break;
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case CV_64F:
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badVal = std::numeric_limits<double>::quiet_NaN();
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break;
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default:
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CV_Error(Error::StsBadArg, "Unsupported depth data type");
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}
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srcDepth.setTo(badVal, ~epsSrc);
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warpedDepth.setTo(badVal, ~epsWarped);
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if (checkMask)
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{
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srcMask = epsSrc; warpedMask = epsWarped;
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@ -543,41 +548,164 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
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{
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srcMask = Mat(); warpedMask = Mat();
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}
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srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsSrc);
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warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsWarped);
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Mat distCoeff, dstRgb, dstDepth, dstMask;
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warpFrame(srcRgb, srcDepth, srcMask, rt.matrix, K,
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dstRgb, dstDepth, dstMask);
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if (needRgb)
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{
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srcRgb = imread(srcRgbFilename, rgbType == CV_8UC1 ? IMREAD_GRAYSCALE : IMREAD_COLOR);
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ASSERT_FALSE(srcRgb.empty()) << "Image " << srcRgbFilename.c_str() << "can not be read" << std::endl;
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//TODO: finish it
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if (identityTransform)
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{
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srcRgb.copyTo(warpedRgb, epsSrc);
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}
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else
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{
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warpedRgb = imread(warpedRgbFilename, rgbType == CV_8UC1 ? IMREAD_GRAYSCALE : IMREAD_COLOR);
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ASSERT_FALSE (warpedRgb.empty()) << "Image " << warpedRgbFilename.c_str() << "can not be read" << std::endl;
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}
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//TODO: check this norm
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double depthDiff = cv::norm(dstDepth, warpedDepth, NORM_L2);
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double rgbDiff = cv::norm(dstRgb, warpedRgb, NORM_L2);
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double maskDiff = cv::norm(dstMask, warpedMask, NORM_L2);
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//TODO: find true threshold, maybe based on pixcount
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ASSERT_LE(0.1, depthDiff);
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if (rgbType == CV_8UC4)
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{
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Mat newSrcRgb, newWarpedRgb;
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cvtColor(srcRgb, newSrcRgb, COLOR_RGB2RGBA);
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srcRgb = newSrcRgb;
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// let's keep alpha channel
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std::vector<Mat> warpedRgbChannels;
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split(warpedRgb, warpedRgbChannels);
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warpedRgbChannels.push_back(epsWarped);
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merge(warpedRgbChannels, newWarpedRgb);
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warpedRgb = newWarpedRgb;
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}
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ASSERT_TRUE(srcRgb.type() == rgbType);
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ASSERT_TRUE(warpedRgb.type() == rgbType);
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}
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else
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{
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srcRgb = Mat(); warpedRgb = Mat();
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}
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// test data used to generate warped depth and rgb
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// the script used to generate is at TODO: here
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double fx = 525.0, fy = 525.0,
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cx = 319.5, cy = 239.5;
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Matx33d K(fx, 0, cx,
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0, fy, cy,
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0, 0, 1);
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cv::Affine3d rt;
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cv::Vec3d tr(-0.04, 0.05, 0.6);
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rt = identityTransform ? cv::Affine3d() : cv::Affine3d(cv::Vec3d(0.1, 0.2, 0.3), tr * transScaleCoeff);
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warpFrame(srcDepth, srcRgb, srcMask, rt.matrix, K, dstDepth, dstRgb, dstMask);
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}
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TEST(RGBD_Odometry_WarpFrame, inputTypes)
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{
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// [depthType, rgbType]
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std::array<int, 5*2> types =
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{ CV_16U, CV_8UC3,
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CV_32F, CV_8UC3,
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CV_64F, CV_8UC3,
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CV_32F, CV_8UC1,
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CV_32F, CV_8UC4 };
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const double shortl2diff = 233.983;
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const double shortlidiff = 1;
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const double floatl2diff = 0.03820836;
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const double floatlidiff = 0.00020004;
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for (int i = 0; i < 5; i++)
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{
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int depthType = types[i*2 + 0];
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int rgbType = types[i*2 + 1];
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WarpFrameTest w;
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// scale down does not happen on CV_16U
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// to avoid integer overflow
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w.run(/* needRgb */ true, /* scaleDown*/ true,
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/* checkMask */ true, /* identityTransform */ false, depthType, rgbType);
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double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
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double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
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EXPECT_EQ(0, maskDiff);
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EXPECT_EQ(0, rgbDiff);
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double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
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double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
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double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff;
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double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff;
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EXPECT_GE(l2threshold, l2diff);
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EXPECT_GE(lithreshold, lidiff);
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}
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}
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TEST(RGBD_Odometry_WarpFrame, identity)
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{
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warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ true);
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WarpFrameTest w;
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w.run(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ true, CV_32F, CV_8UC3);
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double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
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double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
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ASSERT_EQ(0, rgbDiff);
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ASSERT_EQ(0, maskDiff);
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double depthDiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.dstMask);
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ASSERT_GE(DBL_EPSILON, depthDiff);
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}
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TEST(RGBD_Odometry_WarpFrame, noRgb)
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{
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warpFrameTest(/* needRgb */ false, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ false);
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WarpFrameTest w;
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w.run(/* needRgb */ false, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ false, CV_32F, CV_8UC3);
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double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
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ASSERT_EQ(0, maskDiff);
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double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
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double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
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ASSERT_GE(0.03820836, l2diff);
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ASSERT_GE(0.00020004, lidiff);
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}
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TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
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{
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warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ false, /* identityTransform */ false);
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WarpFrameTest w;
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w.run(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ false, /* identityTransform */ false, CV_32F, CV_8UC3);
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double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
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ASSERT_EQ(0, rgbDiff);
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Mat goodVals = (w.warpedDepth == w.warpedDepth);
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double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, goodVals);
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double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, goodVals);
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ASSERT_GE(0.03820836, l2diff);
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ASSERT_GE(0.00020004, lidiff);
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}
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TEST(RGBD_Odometry_WarpFrame, bigScale)
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{
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warpFrameTest(/* needRgb */ true, /* scaleDown*/ false, /* checkMask */ true, /* identityTransform */ false);
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WarpFrameTest w;
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w.run(/* needRgb */ true, /* scaleDown*/ false, /* checkMask */ true, /* identityTransform */ false, CV_32F, CV_8UC3);
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double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
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double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
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ASSERT_EQ(0, maskDiff);
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ASSERT_EQ(0, rgbDiff);
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double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
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double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
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ASSERT_GE(191.026565, l2diff);
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ASSERT_GE(0.99951172, lidiff);
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}
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}} // namespace
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