mirror of
https://github.com/opencv/opencv.git
synced 2024-12-05 01:39:13 +08:00
warpFrame() tests big update
This commit is contained in:
Rostislav Vasilikhin
parent
44c0b58258
commit
492d9dba1e
@ -468,7 +468,22 @@ TEST(RGBD_Odometry_FastICP, prepareFrame)
|
||||
}
|
||||
|
||||
|
||||
void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform)
|
||||
struct WarpFrameTest
|
||||
{
|
||||
WarpFrameTest() :
|
||||
srcDepth(), srcRgb(), srcMask(),
|
||||
dstDepth(), dstRgb(), dstMask(),
|
||||
warpedDepth(), warpedRgb(), warpedMask()
|
||||
{}
|
||||
|
||||
void run(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform, int depthType, int imageType);
|
||||
|
||||
Mat srcDepth, srcRgb, srcMask;
|
||||
Mat dstDepth, dstRgb, dstMask;
|
||||
Mat warpedDepth, warpedRgb, warpedMask;
|
||||
};
|
||||
|
||||
void WarpFrameTest::run(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform, int depthType, int rgbType)
|
||||
{
|
||||
std::string dataPath = cvtest::TS::ptr()->get_data_path();
|
||||
std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png";
|
||||
@ -477,8 +492,6 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
|
||||
std::string warpedDepthFilename = dataPath + "/cv/rgbd/warpedDepth.png";
|
||||
std::string warpedRgbFilename = dataPath + "/cv/rgbd/warpedRgb.png";
|
||||
|
||||
Mat srcDepth, srcRgb, warpedDepth, warpedRgb;
|
||||
|
||||
srcDepth = imread(srcDepthFilename, IMREAD_UNCHANGED);
|
||||
ASSERT_FALSE(srcDepth.empty()) << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
|
||||
|
||||
@ -495,46 +508,38 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
|
||||
ASSERT_TRUE(srcDepth.type() == CV_16UC1);
|
||||
ASSERT_TRUE(warpedDepth.type() == CV_16UC1);
|
||||
|
||||
if (needRgb)
|
||||
{
|
||||
srcRgb = imread(srcRgbFilename);
|
||||
ASSERT_FALSE(srcRgb.empty()) << "Image " << srcRgbFilename.c_str() << "can not be read" << std::endl;
|
||||
Mat epsSrc = srcDepth > 0, epsWarped = warpedDepth > 0;
|
||||
|
||||
if (identityTransform)
|
||||
{
|
||||
warpedRgb = srcRgb;
|
||||
}
|
||||
else
|
||||
{
|
||||
warpedRgb = imread(warpedRgbFilename);
|
||||
ASSERT_FALSE (warpedRgb.empty()) << "Image " << warpedRgbFilename.c_str() << "can not be read" << std::endl;
|
||||
}
|
||||
const double depthFactor = 5000.0;
|
||||
// scale float types only
|
||||
double depthScaleCoeff = scaleDown ? ( depthType == CV_16U ? 1. : 1./depthFactor ) : 1.;
|
||||
double transScaleCoeff = scaleDown ? ( depthType == CV_16U ? depthFactor : 1. ) : depthFactor;
|
||||
|
||||
ASSERT_TRUE(warpedRgb.type() == CV_8UC3);
|
||||
}
|
||||
else
|
||||
{
|
||||
srcRgb = Mat(); warpedRgb = Mat();
|
||||
}
|
||||
|
||||
double fx = 525.0, fy = 525.0,
|
||||
cx = 319.5, cy = 239.5;
|
||||
Matx33d K(fx, 0, cx,
|
||||
0, fy, cy,
|
||||
0, 0, 1);
|
||||
cv::Affine3d rt;
|
||||
rt = identityTransform ? cv::Affine3d() : cv::Affine3d(cv::Vec3d(0.1, 0.2, 0.3), cv::Vec3d(-0.04, 0.05, 0.6));
|
||||
|
||||
float scaleCoeff = scaleDown ? 1.f/5000.f : 1.f;
|
||||
Mat srcDepthCvt, warpedDepthCvt;
|
||||
srcDepth.convertTo(srcDepthCvt, CV_32FC1, scaleCoeff);
|
||||
srcDepth.convertTo(srcDepthCvt, depthType, depthScaleCoeff);
|
||||
srcDepth = srcDepthCvt;
|
||||
warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, scaleCoeff);
|
||||
warpedDepth.convertTo(warpedDepthCvt, depthType, depthScaleCoeff);
|
||||
warpedDepth = warpedDepthCvt;
|
||||
|
||||
//TODO: check that NaNs in depth work the same as explicit mask
|
||||
Mat epsSrc = srcDepth >= FLT_EPSILON, epsWarped = warpedDepth >= FLT_EPSILON;
|
||||
Mat srcMask, warpedMask;
|
||||
Scalar badVal;
|
||||
switch (depthType)
|
||||
{
|
||||
case CV_16U:
|
||||
badVal = 0;
|
||||
break;
|
||||
case CV_32F:
|
||||
badVal = std::numeric_limits<float>::quiet_NaN();
|
||||
break;
|
||||
case CV_64F:
|
||||
badVal = std::numeric_limits<double>::quiet_NaN();
|
||||
break;
|
||||
default:
|
||||
CV_Error(Error::StsBadArg, "Unsupported depth data type");
|
||||
}
|
||||
|
||||
srcDepth.setTo(badVal, ~epsSrc);
|
||||
warpedDepth.setTo(badVal, ~epsWarped);
|
||||
|
||||
if (checkMask)
|
||||
{
|
||||
srcMask = epsSrc; warpedMask = epsWarped;
|
||||
@ -543,41 +548,164 @@ void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTr
|
||||
{
|
||||
srcMask = Mat(); warpedMask = Mat();
|
||||
}
|
||||
srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsSrc);
|
||||
warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsWarped);
|
||||
|
||||
Mat distCoeff, dstRgb, dstDepth, dstMask;
|
||||
warpFrame(srcRgb, srcDepth, srcMask, rt.matrix, K,
|
||||
dstRgb, dstDepth, dstMask);
|
||||
if (needRgb)
|
||||
{
|
||||
srcRgb = imread(srcRgbFilename, rgbType == CV_8UC1 ? IMREAD_GRAYSCALE : IMREAD_COLOR);
|
||||
ASSERT_FALSE(srcRgb.empty()) << "Image " << srcRgbFilename.c_str() << "can not be read" << std::endl;
|
||||
|
||||
//TODO: finish it
|
||||
if (identityTransform)
|
||||
{
|
||||
srcRgb.copyTo(warpedRgb, epsSrc);
|
||||
}
|
||||
else
|
||||
{
|
||||
warpedRgb = imread(warpedRgbFilename, rgbType == CV_8UC1 ? IMREAD_GRAYSCALE : IMREAD_COLOR);
|
||||
ASSERT_FALSE (warpedRgb.empty()) << "Image " << warpedRgbFilename.c_str() << "can not be read" << std::endl;
|
||||
}
|
||||
|
||||
//TODO: check this norm
|
||||
double depthDiff = cv::norm(dstDepth, warpedDepth, NORM_L2);
|
||||
double rgbDiff = cv::norm(dstRgb, warpedRgb, NORM_L2);
|
||||
double maskDiff = cv::norm(dstMask, warpedMask, NORM_L2);
|
||||
//TODO: find true threshold, maybe based on pixcount
|
||||
ASSERT_LE(0.1, depthDiff);
|
||||
if (rgbType == CV_8UC4)
|
||||
{
|
||||
Mat newSrcRgb, newWarpedRgb;
|
||||
cvtColor(srcRgb, newSrcRgb, COLOR_RGB2RGBA);
|
||||
srcRgb = newSrcRgb;
|
||||
// let's keep alpha channel
|
||||
std::vector<Mat> warpedRgbChannels;
|
||||
split(warpedRgb, warpedRgbChannels);
|
||||
warpedRgbChannels.push_back(epsWarped);
|
||||
merge(warpedRgbChannels, newWarpedRgb);
|
||||
warpedRgb = newWarpedRgb;
|
||||
}
|
||||
|
||||
ASSERT_TRUE(srcRgb.type() == rgbType);
|
||||
ASSERT_TRUE(warpedRgb.type() == rgbType);
|
||||
}
|
||||
else
|
||||
{
|
||||
srcRgb = Mat(); warpedRgb = Mat();
|
||||
}
|
||||
|
||||
// test data used to generate warped depth and rgb
|
||||
// the script used to generate is at TODO: here
|
||||
double fx = 525.0, fy = 525.0,
|
||||
cx = 319.5, cy = 239.5;
|
||||
Matx33d K(fx, 0, cx,
|
||||
0, fy, cy,
|
||||
0, 0, 1);
|
||||
cv::Affine3d rt;
|
||||
cv::Vec3d tr(-0.04, 0.05, 0.6);
|
||||
rt = identityTransform ? cv::Affine3d() : cv::Affine3d(cv::Vec3d(0.1, 0.2, 0.3), tr * transScaleCoeff);
|
||||
|
||||
warpFrame(srcDepth, srcRgb, srcMask, rt.matrix, K, dstDepth, dstRgb, dstMask);
|
||||
}
|
||||
|
||||
|
||||
TEST(RGBD_Odometry_WarpFrame, inputTypes)
|
||||
{
|
||||
// [depthType, rgbType]
|
||||
std::array<int, 5*2> types =
|
||||
{ CV_16U, CV_8UC3,
|
||||
CV_32F, CV_8UC3,
|
||||
CV_64F, CV_8UC3,
|
||||
CV_32F, CV_8UC1,
|
||||
CV_32F, CV_8UC4 };
|
||||
const double shortl2diff = 233.983;
|
||||
const double shortlidiff = 1;
|
||||
const double floatl2diff = 0.03820836;
|
||||
const double floatlidiff = 0.00020004;
|
||||
for (int i = 0; i < 5; i++)
|
||||
{
|
||||
int depthType = types[i*2 + 0];
|
||||
int rgbType = types[i*2 + 1];
|
||||
|
||||
WarpFrameTest w;
|
||||
// scale down does not happen on CV_16U
|
||||
// to avoid integer overflow
|
||||
w.run(/* needRgb */ true, /* scaleDown*/ true,
|
||||
/* checkMask */ true, /* identityTransform */ false, depthType, rgbType);
|
||||
|
||||
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
|
||||
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
|
||||
|
||||
EXPECT_EQ(0, maskDiff);
|
||||
EXPECT_EQ(0, rgbDiff);
|
||||
|
||||
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
|
||||
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
|
||||
|
||||
double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff;
|
||||
double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff;
|
||||
|
||||
EXPECT_GE(l2threshold, l2diff);
|
||||
EXPECT_GE(lithreshold, lidiff);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(RGBD_Odometry_WarpFrame, identity)
|
||||
{
|
||||
warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ true);
|
||||
WarpFrameTest w;
|
||||
w.run(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ true, CV_32F, CV_8UC3);
|
||||
|
||||
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
|
||||
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
|
||||
|
||||
ASSERT_EQ(0, rgbDiff);
|
||||
ASSERT_EQ(0, maskDiff);
|
||||
|
||||
double depthDiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.dstMask);
|
||||
|
||||
ASSERT_GE(DBL_EPSILON, depthDiff);
|
||||
}
|
||||
|
||||
TEST(RGBD_Odometry_WarpFrame, noRgb)
|
||||
{
|
||||
warpFrameTest(/* needRgb */ false, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ false);
|
||||
WarpFrameTest w;
|
||||
w.run(/* needRgb */ false, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ false, CV_32F, CV_8UC3);
|
||||
|
||||
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
|
||||
ASSERT_EQ(0, maskDiff);
|
||||
|
||||
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
|
||||
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
|
||||
|
||||
ASSERT_GE(0.03820836, l2diff);
|
||||
ASSERT_GE(0.00020004, lidiff);
|
||||
}
|
||||
|
||||
TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
|
||||
{
|
||||
warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ false, /* identityTransform */ false);
|
||||
WarpFrameTest w;
|
||||
w.run(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ false, /* identityTransform */ false, CV_32F, CV_8UC3);
|
||||
|
||||
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
|
||||
|
||||
ASSERT_EQ(0, rgbDiff);
|
||||
|
||||
Mat goodVals = (w.warpedDepth == w.warpedDepth);
|
||||
|
||||
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, goodVals);
|
||||
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, goodVals);
|
||||
|
||||
ASSERT_GE(0.03820836, l2diff);
|
||||
ASSERT_GE(0.00020004, lidiff);
|
||||
}
|
||||
|
||||
TEST(RGBD_Odometry_WarpFrame, bigScale)
|
||||
{
|
||||
warpFrameTest(/* needRgb */ true, /* scaleDown*/ false, /* checkMask */ true, /* identityTransform */ false);
|
||||
WarpFrameTest w;
|
||||
w.run(/* needRgb */ true, /* scaleDown*/ false, /* checkMask */ true, /* identityTransform */ false, CV_32F, CV_8UC3);
|
||||
|
||||
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
|
||||
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
|
||||
|
||||
ASSERT_EQ(0, maskDiff);
|
||||
ASSERT_EQ(0, rgbDiff);
|
||||
|
||||
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
|
||||
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
|
||||
|
||||
ASSERT_GE(191.026565, l2diff);
|
||||
ASSERT_GE(0.99951172, lidiff);
|
||||
}
|
||||
|
||||
}} // namespace
|
||||
|
||||
Loading…
Reference in New Issue
Block a user