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warpFrame() test: more test cases

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Rostislav Vasilikhin 2022-06-27 01:24:39 +02:00
parent 162bd5be4c
commit 6b2d1033bd
1 changed files with 84 additions and 28 deletions
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112
modules/3d/test/test_odometry.cpp
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@ -467,61 +467,117 @@ TEST(RGBD_Odometry_FastICP, prepareFrame)
test.prepareFrameCheck(); test.prepareFrameCheck();
} }
TEST(RGBD_Odometry_WarpFrame, compareToGold)
{
//TODO: identity transform
//TODO: finish it
void warpFrameTest(bool needRgb, bool scaleDown, bool checkMask, bool identityTransform)
{
std::string dataPath = cvtest::TS::ptr()->get_data_path(); std::string dataPath = cvtest::TS::ptr()->get_data_path();
std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png"; std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png";
std::string srcRgbFilename = dataPath + "/cv/rgbd/rgb.png";
// The depth was generated using the script at 3d/misc/python/warp_test.py // The depth was generated using the script at 3d/misc/python/warp_test.py
std::string warpedDepthFilename = dataPath + "/cv/rgbd/warped.png"; std::string warpedDepthFilename = dataPath + "/cv/rgbd/warpedDepth.png";
std::string warpedRgbFilename = dataPath + "/cv/rgbd/warpedRgb.png";
Mat srcDepth, warpedDepth; Mat srcDepth, srcRgb, warpedDepth, warpedRgb;
srcDepth = imread(srcDepthFilename, -1); srcDepth = imread(srcDepthFilename, IMREAD_UNCHANGED);
if(srcDepth.empty()) ASSERT_FALSE(srcDepth.empty()) << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
if (identityTransform)
{ {
FAIL() << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl; warpedDepth = srcDepth;
}
else
{
warpedDepth = imread(warpedDepthFilename, IMREAD_UNCHANGED);
ASSERT_FALSE(warpedDepth.empty()) << "Depth " << warpedDepthFilename.c_str() << "can not be read" << std::endl;
} }
warpedDepth = imread(warpedDepthFilename, -1); ASSERT_TRUE(srcDepth.type() == CV_16UC1);
if(warpedDepth.empty()) ASSERT_TRUE(warpedDepth.type() == CV_16UC1);
{
FAIL() << "Depth " << warpedDepthFilename.c_str() << "can not be read" << std::endl;
}
CV_DbgAssert(srcDepth.type() == CV_16UC1); if (needRgb)
CV_DbgAssert(warpedDepth.type() == CV_16UC1); {
srcRgb = imread(srcRgbFilename);
ASSERT_FALSE(srcRgb.empty()) << "Image " << srcRgbFilename.c_str() << "can not be read" << std::endl;
if (identityTransform)
{
warpedRgb = srcRgb;
}
else
{
warpedRgb = imread(warpedRgbFilename);
ASSERT_FALSE (warpedRgb.empty()) << "Image " << warpedRgbFilename.c_str() << "can not be read" << std::endl;
}
ASSERT_TRUE(warpedRgb.type() == CV_8UC3);
}
else
{
srcRgb = Mat(); warpedRgb = Mat();
}
double fx = 525.0, fy = 525.0, double fx = 525.0, fy = 525.0,
cx = 319.5, cy = 239.5; cx = 319.5, cy = 239.5;
Matx33d K(fx, 0, cx, Matx33d K(fx, 0, cx,
0, fy, cy, 0, fy, cy,
0, 0, 1); 0, 0, 1);
cv::Affine3d rt(cv::Vec3d(0.1, 0.2, 0.3), cv::Vec3d(-0.04, 0.05, 0.6)); 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));
//TODO: check with and without scaling float scaleCoeff = scaleDown ? 1.f/5000.f : 1.f;
Mat srcDepthCvt, warpedDepthCvt; Mat srcDepthCvt, warpedDepthCvt;
srcDepth.convertTo(srcDepthCvt, CV_32FC1, 1.f/5000.f); srcDepth.convertTo(srcDepthCvt, CV_32FC1, scaleCoeff);
srcDepth = srcDepthCvt; srcDepth = srcDepthCvt;
warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, 1.f/5000.f); warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, scaleCoeff);
warpedDepth = warpedDepthCvt; warpedDepth = warpedDepthCvt;
srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), srcDepth < FLT_EPSILON); //TODO: check that NaNs in depth work the same as explicit mask
warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), warpedDepth < FLT_EPSILON); Mat epsSrc = srcDepth >= FLT_EPSILON, epsWarped = warpedDepth >= FLT_EPSILON;
Mat srcMask, warpedMask;
if (checkMask)
{
srcMask = epsSrc; warpedMask = epsWarped;
}
else
{
srcMask = Mat(); warpedMask = Mat();
}
srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsSrc);
warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), ~epsWarped);
//TODO: check with and without image Mat distCoeff, dstRgb, dstDepth, dstMask;
//TODO: check with and without mask warpFrame(srcRgb, srcDepth, srcMask, rt.matrix, K,
//TODO: check with and without distCoeff dstRgb, dstDepth, dstMask);
Mat image, mask, distCoeff, dstImage, dstDepth, dstMask;
warpFrame(image, srcDepth, mask, rt.matrix, K, distCoeff, //TODO: finish it
dstImage, dstDepth, dstMask);
//TODO: check this norm //TODO: check this norm
double depthDiff = cv::norm(dstDepth, warpedDepth, NORM_L2); 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 //TODO: find true threshold, maybe based on pixcount
ASSERT_LE(0.1, depthDiff); ASSERT_LE(0.1, depthDiff);
} }
TEST(RGBD_Odometry_WarpFrame, identity)
{
warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ true);
}
TEST(RGBD_Odometry_WarpFrame, noRgb)
{
warpFrameTest(/* needRgb */ false, /* scaleDown*/ true, /* checkMask */ true, /* identityTransform */ false);
}
TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
{
warpFrameTest(/* needRgb */ true, /* scaleDown*/ true, /* checkMask */ false, /* identityTransform */ false);
}
TEST(RGBD_Odometry_WarpFrame, bigScale)
{
warpFrameTest(/* needRgb */ true, /* scaleDown*/ false, /* checkMask */ true, /* identityTransform */ false);
}
}} // namespace }} // namespace