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warpFrame() test: more test cases
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@ -467,61 +467,117 @@ TEST(RGBD_Odometry_FastICP, prepareFrame)
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test.prepareFrameCheck();
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}
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TEST(RGBD_Odometry_WarpFrame, compareToGold)
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{
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//TODO: identity transform
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//TODO: finish it
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void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform)
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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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std::string srcRgbFilename = dataPath + "/cv/rgbd/rgb.png";
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// The depth was generated using the script at 3d/misc/python/warp_test.py
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std::string warpedDepthFilename = dataPath + "/cv/rgbd/warped.png";
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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, warpedDepth;
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Mat srcDepth, srcRgb, warpedDepth, warpedRgb;
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srcDepth = imread(srcDepthFilename, -1);
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if(srcDepth.empty())
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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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if (identityTransform)
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{
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FAIL() << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
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warpedDepth = srcDepth;
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}
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else
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{
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warpedDepth = imread(warpedDepthFilename, IMREAD_UNCHANGED);
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ASSERT_FALSE(warpedDepth.empty()) << "Depth " << warpedDepthFilename.c_str() << "can not be read" << std::endl;
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}
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warpedDepth = imread(warpedDepthFilename, -1);
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if(warpedDepth.empty())
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{
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FAIL() << "Depth " << warpedDepthFilename.c_str() << "can not be read" << std::endl;
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}
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ASSERT_TRUE(srcDepth.type() == CV_16UC1);
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ASSERT_TRUE(warpedDepth.type() == CV_16UC1);
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CV_DbgAssert(srcDepth.type() == CV_16UC1);
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CV_DbgAssert(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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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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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(cv::Vec3d(0.1, 0.2, 0.3), cv::Vec3d(-0.04, 0.05, 0.6));
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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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//TODO: check with and without scaling
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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, 1.f/5000.f);
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srcDepth.convertTo(srcDepthCvt, CV_32FC1, scaleCoeff);
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srcDepth = srcDepthCvt;
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warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, 1.f/5000.f);
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warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, scaleCoeff);
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warpedDepth = warpedDepthCvt;
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srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), srcDepth < FLT_EPSILON);
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warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), warpedDepth < FLT_EPSILON);
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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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if (checkMask)
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{
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srcMask = epsSrc; warpedMask = epsWarped;
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}
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else
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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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//TODO: check with and without image
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//TODO: check with and without mask
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//TODO: check with and without distCoeff
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Mat image, mask, distCoeff, dstImage, dstDepth, dstMask;
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warpFrame(image, srcDepth, mask, rt.matrix, K, distCoeff,
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dstImage, dstDepth, dstMask);
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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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//TODO: finish it
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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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}
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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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}
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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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}
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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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}
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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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}
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}} // namespace
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