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Merge pull request #22845 from savuor:volume_interface_etc
Corresponding contrib PR: #3382@contrib Changes - Volume::raycast(): camera intrinsics can be explicitly passed to the function. If not, the ones from current volume settings are used - getVolumeDimensions() renamed to getVolumeStrides() because they are strides actually - TSDF tests: OpenCLStatusRevert and parametrized fixture - ColorTSDF::integrate(): extra RGB projector is redundant, removed - Minor changes
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@ -52,7 +52,7 @@ public:
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virtual ~Submap() = default;
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virtual void integrate(InputArray _depth, const int currframeId);
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virtual void raycast(const cv::Affine3f& cameraPose, cv::Size frameSize,
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virtual void raycast(const cv::Affine3f& cameraPose, cv::Size frameSize, cv::Matx33f K,
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OutputArray points = noArray(), OutputArray normals = noArray());
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virtual int getTotalAllocatedBlocks() const { return int(volume.getTotalVolumeUnits()); };
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@ -112,14 +112,14 @@ void Submap<MatType>::integrate(InputArray _depth, const int currFrameId)
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}
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template<typename MatType>
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void Submap<MatType>::raycast(const cv::Affine3f& _cameraPose, cv::Size frameSize,
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void Submap<MatType>::raycast(const cv::Affine3f& _cameraPose, cv::Size frameSize, cv::Matx33f K,
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OutputArray points, OutputArray normals)
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{
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if (!points.needed() && !normals.needed())
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{
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MatType pts, nrm;
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//TODO: get depth instead of pts from raycast
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volume.raycast(_cameraPose.matrix, frameSize.height, frameSize.height, pts, nrm);
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volume.raycast(_cameraPose.matrix, frameSize.height, frameSize.width, K, pts, nrm);
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std::vector<MatType> pch(3);
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split(pts, pch);
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@ -130,7 +130,7 @@ void Submap<MatType>::raycast(const cv::Affine3f& _cameraPose, cv::Size frameSiz
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}
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else
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{
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volume.raycast(_cameraPose.matrix, frameSize.height, frameSize.height, points, normals);
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volume.raycast(_cameraPose.matrix, frameSize.height, frameSize.width, K, points, normals);
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}
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}
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@ -22,7 +22,7 @@ public:
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* @param vtype the volume type [TSDF, HashTSDF, ColorTSDF].
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* @param settings the custom settings for volume.
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*/
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Volume(VolumeType vtype, const VolumeSettings& settings);
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Volume(VolumeType vtype, VolumeSettings settings);
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virtual ~Volume();
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/** @brief Integrates the input data to the volume.
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@ -73,13 +73,14 @@ public:
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Rendered image size and camera intrinsics are taken from volume settings structure.
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* @param cameraPose the pose of camera in global coordinates.
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* @param height the height of result image.
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* @param width the width of result image.
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* @param height the height of result image
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* @param width the width of result image
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* @param K camera raycast intrinsics
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* @param points image to store rendered points.
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* @param normals image to store rendered normals corresponding to points.
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* @param colors image to store rendered colors corresponding to points (only for ColorTSDF).
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*/
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void raycast(InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors = noArray()) const;
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void raycast(InputArray cameraPose, int height, int width, InputArray K, OutputArray points, OutputArray normals, OutputArray colors = noArray()) const;
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/** @brief Extract the all data from volume.
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* @param points the input exist point.
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@ -54,21 +54,21 @@ public:
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int getIntegrateHeight() const;
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/** @brief Sets the width of the raycasted image.
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/** @brief Sets the width of the raycasted image, used when user does not provide it at raycast() call.
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* @param val input value.
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*/
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void setRaycastWidth(int val);
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/** @brief Returns the width of the raycasted image.
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/** @brief Returns the width of the raycasted image, used when user does not provide it at raycast() call.
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*/
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int getRaycastWidth() const;
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/** @brief Sets the height of the raycasted image.
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/** @brief Sets the height of the raycasted image, used when user does not provide it at raycast() call.
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* @param val input value.
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*/
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void setRaycastHeight(int val);
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/** @brief Returns the height of the raycasted image.
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/** @brief Returns the height of the raycasted image, used when user does not provide it at raycast() call.
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*/
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int getRaycastHeight() const;
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@ -159,10 +159,10 @@ public:
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void getVolumeResolution(OutputArray val) const;
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/** @brief Returns 3 integers representing strides by x, y and z dimension.
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Can be used to iterate over volume unit raw data.
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Can be used to iterate over raw volume unit data.
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* @param val output value.
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*/
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void getVolumeDimensions(OutputArray val) const;
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void getVolumeStrides(OutputArray val) const;
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/** @brief Sets intrinsics of camera for integrations.
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* Format of input:
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@ -184,7 +184,7 @@ public:
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*/
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void getCameraIntegrateIntrinsics(OutputArray val) const;
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/** @brief Sets intrinsics of camera for raycast image.
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/** @brief Sets camera intrinsics for raycast image which, used when user does not provide them at raycast() call.
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* Format of input:
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* [ fx 0 cx ]
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* [ 0 fy cy ]
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@ -194,7 +194,7 @@ public:
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*/
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void setCameraRaycastIntrinsics(InputArray val);
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/** @brief Returns intrinsics of camera for raycast image.
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/** @brief Returns camera intrinsics for raycast image, used when user does not provide them at raycast() call.
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* Format of output:
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* [ fx 0 cx ]
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* [ 0 fy cy ]
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@ -428,11 +428,12 @@ PERF_TEST(Perf_TSDF, integrate_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -460,11 +461,12 @@ PERF_TEST(Perf_TSDF, integrate_frame)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -492,12 +494,13 @@ PERF_TEST(Perf_TSDF, raycast_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -509,7 +512,7 @@ PERF_TEST(Perf_TSDF, raycast_mat)
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volume.integrate(depth, pose);
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startTimer();
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volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
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volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
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stopTimer();
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if (display)
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@ -531,11 +534,12 @@ PERF_TEST(Perf_TSDF_CPU, integrate_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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@ -564,11 +568,12 @@ PERF_TEST(Perf_TSDF_CPU, integrate_frame)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -597,12 +602,13 @@ PERF_TEST(Perf_TSDF_CPU, raycast_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -614,7 +620,7 @@ PERF_TEST(Perf_TSDF_CPU, raycast_mat)
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volume.integrate(depth, pose);
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startTimer();
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volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
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volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
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stopTimer();
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if (display)
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@ -640,11 +646,12 @@ PERF_TEST(Perf_HashTSDF, integrate_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -672,11 +679,12 @@ PERF_TEST(Perf_HashTSDF, integrate_frame)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -705,12 +713,13 @@ PERF_TEST(Perf_HashTSDF, raycast_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -722,7 +731,7 @@ PERF_TEST(Perf_HashTSDF, raycast_mat)
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volume.integrate(depth, pose);
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startTimer();
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volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
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volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
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stopTimer();
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if (display)
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@ -743,11 +752,12 @@ PERF_TEST(Perf_HashTSDF_CPU, integrate_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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@ -776,11 +786,12 @@ PERF_TEST(Perf_HashTSDF_CPU, integrate_frame)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -809,12 +820,13 @@ PERF_TEST(Perf_HashTSDF_CPU, raycast_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -826,7 +838,7 @@ PERF_TEST(Perf_HashTSDF_CPU, raycast_mat)
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volume.integrate(depth, pose);
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startTimer();
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volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
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volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
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stopTimer();
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if (display)
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@ -851,11 +863,12 @@ PERF_TEST(Perf_ColorTSDF, integrate_mat)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
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@ -884,11 +897,12 @@ PERF_TEST(Perf_ColorTSDF, integrate_frame)
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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Matx33f intrIntegrate, intrRaycast;
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vs.getCameraIntegrateIntrinsics(intrIntegrate);
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vs.getCameraRaycastIntrinsics(intrRaycast);
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bool onlySemisphere = false;
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float depthFactor = vs.getDepthFactor();
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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for (size_t i = 0; i < poses.size(); i++)
|
||||
@ -918,12 +932,13 @@ PERF_TEST(Perf_ColorTSDF, raycast_mat)
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
for (size_t i = 0; i < poses.size(); i++)
|
||||
@ -937,7 +952,7 @@ PERF_TEST(Perf_ColorTSDF, raycast_mat)
|
||||
volume.integrate(depth, rgb, pose);
|
||||
|
||||
startTimer();
|
||||
volume.raycast(pose, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
|
||||
stopTimer();
|
||||
|
||||
if (display)
|
||||
|
@ -21,11 +21,10 @@ void integrateColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f&
|
||||
}
|
||||
|
||||
|
||||
void integrateColorTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& volumePose, const Matx44f& cameraPose,
|
||||
void integrateColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& volumePose, const Matx44f& cameraPose,
|
||||
InputArray _depth, InputArray _rgb, InputArray _pixNorms, InputArray _volume)
|
||||
{
|
||||
//std::cout << "integrateColorTsdfVolumeUnit()" << std::endl;
|
||||
CV_TRACE_FUNCTION();
|
||||
|
||||
Depth depth = _depth.getMat();
|
||||
Colors color = _rgb.getMat();
|
||||
@ -35,7 +34,7 @@ void integrateColorTsdfVolumeUnit(
|
||||
RGBTsdfVoxel* volDataStart = volume.ptr<RGBTsdfVoxel>();
|
||||
|
||||
Vec4i volStrides;
|
||||
settings.getVolumeDimensions(volStrides);
|
||||
settings.getVolumeStrides(volStrides);
|
||||
|
||||
Vec3i resolution;
|
||||
settings.getVolumeResolution(resolution);
|
||||
@ -49,10 +48,6 @@ void integrateColorTsdfVolumeUnit(
|
||||
settings.getCameraIntegrateIntrinsics(intr);
|
||||
const Intr::Projector projDepth = Intr(intr).makeProjector();
|
||||
|
||||
Matx33f rgb_intr;
|
||||
settings.getCameraIntegrateIntrinsics(rgb_intr);
|
||||
const Intr::Projector projColor = Intr(rgb_intr);
|
||||
|
||||
const float dfac(1.f / settings.getDepthFactor());
|
||||
const float truncDist = settings.getTsdfTruncateDistance();
|
||||
const float truncDistInv = 1.f / truncDist;
|
||||
@ -70,7 +65,6 @@ void integrateColorTsdfVolumeUnit(
|
||||
|
||||
v_float32x4 zStep(zStepPt.x, zStepPt.y, zStepPt.z, 0);
|
||||
v_float32x4 vfxy(projDepth.fx, projDepth.fy, 0.f, 0.f), vcxy(projDepth.cx, projDepth.cy, 0.f, 0.f);
|
||||
v_float32x4 rgb_vfxy(projColor.fx, projColor.fy, 0.f, 0.f), rgb_vcxy(projColor.cx, projColor.cy, 0.f, 0.f);
|
||||
const v_float32x4 upLimits = v_cvt_f32(v_int32x4(depth.cols - 1, depth.rows - 1, 0, 0));
|
||||
|
||||
for (int x = range.start; x < range.end; x++)
|
||||
@ -177,23 +171,15 @@ void integrateColorTsdfVolumeUnit(
|
||||
continue;
|
||||
}
|
||||
|
||||
v_float32x4 projectedRGB = v_muladd(camPixVec, rgb_vfxy, rgb_vcxy);
|
||||
// leave only first 2 lanes
|
||||
projectedRGB = v_reinterpret_as_f32(v_reinterpret_as_u32(projected) &
|
||||
v_uint32x4(0xFFFFFFFF, 0xFFFFFFFF, 0, 0));
|
||||
|
||||
// norm(camPixVec) produces double which is too slow
|
||||
int _u = (int)projected.get0();
|
||||
int _v = (int)v_rotate_right<1>(projected).get0();
|
||||
int rgb_u = (int)projectedRGB.get0();
|
||||
int rgb_v = (int)v_rotate_right<1>(projectedRGB).get0();
|
||||
|
||||
if (!(_u >= 0 && _u < depth.cols && _v >= 0 && _v < depth.rows &&
|
||||
rgb_v >= 0 && rgb_v < color.rows && rgb_u >= 0 && rgb_u < color.cols))
|
||||
if (!(_u >= 0 && _u < depth.cols && _v >= 0 && _v < depth.rows))
|
||||
continue;
|
||||
float pixNorm = pixNorms.at<float>(_v, _u);
|
||||
// TODO: Add support of 3point and 4 point representation
|
||||
Vec3f colorRGB = color.at<Vec3f>(rgb_v, rgb_u);
|
||||
Vec3f colorRGB = color.at<Vec3f>(_v, _u);
|
||||
//float pixNorm = sqrt(v_reduce_sum(camPixVec*camPixVec));
|
||||
// difference between distances of point and of surface to camera
|
||||
float sdf = pixNorm * (v * dfac - zCamSpace);
|
||||
@ -283,7 +269,6 @@ void integrateColorTsdfVolumeUnit(
|
||||
|
||||
Point3f camPixVec;
|
||||
Point2f projected = projDepth(camSpacePt, camPixVec);
|
||||
Point2f projectedRGB = projColor(camSpacePt, camPixVec);
|
||||
|
||||
depthType v = bilinearDepth(depth, projected);
|
||||
if (v == 0) {
|
||||
@ -292,17 +277,12 @@ void integrateColorTsdfVolumeUnit(
|
||||
int _u = projected.x;
|
||||
int _v = projected.y;
|
||||
|
||||
int rgb_u = (int)projectedRGB.x;
|
||||
int rgb_v = (int)projectedRGB.y;
|
||||
|
||||
if (!(_u >= 0 && _u < depth.cols && _v >= 0 && _v < depth.rows
|
||||
&& rgb_v >= 0 && rgb_v < color.rows && rgb_u >= 0 && rgb_u < color.cols
|
||||
))
|
||||
if (!(_u >= 0 && _u < depth.cols && _v >= 0 && _v < depth.rows))
|
||||
continue;
|
||||
|
||||
float pixNorm = pixNorms.at<float>(_v, _u);
|
||||
// TODO: Add support of 3point and 4 point representation
|
||||
Vec3f colorRGB = color.at<Vec3f>(rgb_v, rgb_u);
|
||||
Vec3f colorRGB = color.at<Vec3f>(_v, _u);
|
||||
|
||||
// difference between distances of point and of surface to camera
|
||||
float sdf = pixNorm * (v * dfac - camSpacePt.z);
|
||||
@ -337,10 +317,6 @@ void integrateColorTsdfVolumeUnit(
|
||||
};
|
||||
#endif
|
||||
parallel_for_(integrateRange, IntegrateInvoker);
|
||||
//IntegrateInvoker(integrateRange);
|
||||
|
||||
//std::cout << "integrateColorTsdfVolumeUnit() end" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -712,16 +688,17 @@ inline Point3f getColorVoxel(const Mat& volume,
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
void raycastColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
void raycastColorTsdfVolumeUnit(const VolumeSettings &settings, const Matx44f &cameraPose,
|
||||
int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals, OutputArray _colors)
|
||||
{
|
||||
//std::cout << "raycastColorTsdfVolumeUnit()" << std::endl;
|
||||
CV_TRACE_FUNCTION();
|
||||
|
||||
Size frameSize(width, height);
|
||||
CV_Assert(frameSize.area() > 0);
|
||||
|
||||
Matx33f mintr(intr.getMat());
|
||||
|
||||
_points.create(frameSize, POINT_TYPE);
|
||||
_normals.create(frameSize, POINT_TYPE);
|
||||
_colors.create(frameSize, COLOR_TYPE);
|
||||
@ -731,7 +708,7 @@ void raycastColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& c
|
||||
Colors colors = _colors.getMat();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -748,9 +725,7 @@ void raycastColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& c
|
||||
const Point3i volResolution = Point3i(resolution);
|
||||
const Point3f volSize = Point3f(volResolution) * settings.getVoxelSize();
|
||||
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
const Intr::Reprojector reprojDepth = Intr(intr).makeReprojector();
|
||||
const Intr::Reprojector reprojDepth = Intr(mintr).makeReprojector();
|
||||
|
||||
Matx44f _pose;
|
||||
settings.getVolumePose(_pose);
|
||||
@ -1027,17 +1002,12 @@ void raycastColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& c
|
||||
#endif
|
||||
|
||||
parallel_for_(raycastRange, RaycastInvoker);
|
||||
//RaycastInvoker(raycastRange);
|
||||
|
||||
//std::cout << "raycastColorTsdfVolumeUnit() end" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
void fetchNormalsFromColorTsdfVolumeUnit(const VolumeSettings& settings, InputArray _volume,
|
||||
InputArray _points, OutputArray _normals)
|
||||
{
|
||||
//std::cout << "fetchNormalsFromColorTsdfVolumeUnit" << std::endl;
|
||||
|
||||
CV_TRACE_FUNCTION();
|
||||
CV_Assert(!_points.empty());
|
||||
if (!_normals.needed())
|
||||
@ -1058,7 +1028,7 @@ void fetchNormalsFromColorTsdfVolumeUnit(const VolumeSettings& settings, InputAr
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -1171,7 +1141,7 @@ void fetchPointsNormalsColorsFromColorTsdfVolumeUnit(const VolumeSettings& setti
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
|
@ -17,27 +17,20 @@
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
void integrateColorTsdfVolumeUnit(const VolumeSettings &settings, const Matx44f &cameraPose,
|
||||
InputArray _depth, InputArray _rgb, InputArray _pixNorms, InputArray _volume);
|
||||
|
||||
void integrateColorTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& volumePose, const Matx44f& cameraPose,
|
||||
void integrateColorTsdfVolumeUnit(const VolumeSettings &settings, const Matx44f &volumePose, const Matx44f &cameraPose,
|
||||
InputArray _depth, InputArray _rgb, InputArray _pixNorms, InputArray _volume);
|
||||
|
||||
void raycastColorTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
void raycastColorTsdfVolumeUnit(const VolumeSettings &settings, const Matx44f &cameraPose,
|
||||
int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals, OutputArray _colors);
|
||||
|
||||
void fetchNormalsFromColorTsdfVolumeUnit(const VolumeSettings &settings, InputArray _volume,
|
||||
InputArray _points, OutputArray _normals);
|
||||
|
||||
void fetchPointsNormalsFromColorTsdfVolumeUnit(const VolumeSettings &settings, InputArray _volume,
|
||||
OutputArray _points, OutputArray _normals);
|
||||
|
||||
void fetchPointsNormalsColorsFromColorTsdfVolumeUnit(const VolumeSettings &settings, InputArray _volume,
|
||||
OutputArray _points, OutputArray _normals, OutputArray _colors);
|
||||
|
||||
|
||||
} // namespace cv
|
||||
|
||||
#endif
|
||||
|
@ -497,7 +497,7 @@ void ocl_integrateHashTsdfVolumeUnit(
|
||||
const Intr intrinsics(intr);
|
||||
|
||||
Vec4i volStrides;
|
||||
settings.getVolumeDimensions(volStrides);
|
||||
settings.getVolumeStrides(volStrides);
|
||||
|
||||
Vec3i resolution;
|
||||
settings.getVolumeResolution(resolution);
|
||||
@ -988,15 +988,15 @@ Point3f ocl_getNormalVoxel(
|
||||
#endif
|
||||
|
||||
void raycastHashTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, const int volumeUnitDegree,
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr, const int volumeUnitDegree,
|
||||
InputArray _volUnitsData, const VolumeUnitIndexes& volumeUnits, OutputArray _points, OutputArray _normals)
|
||||
{
|
||||
//std::cout << "raycastHashTsdfVolumeUnit()" << std::endl;
|
||||
|
||||
CV_TRACE_FUNCTION();
|
||||
Size frameSize(width, height);
|
||||
CV_Assert(frameSize.area() > 0);
|
||||
|
||||
Matx33f mintr(intr.getMat());
|
||||
|
||||
Mat volUnitsData = _volUnitsData.getMat();
|
||||
|
||||
_points.create(frameSize, POINT_TYPE);
|
||||
@ -1016,7 +1016,7 @@ void raycastHashTsdfVolumeUnit(
|
||||
const float voxelSizeInv = 1.f / voxelSize;
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
Vec3i resolution;
|
||||
settings.getVolumeResolution(resolution);
|
||||
const Point3i volResolution = Point3i(resolution);
|
||||
@ -1028,9 +1028,7 @@ void raycastHashTsdfVolumeUnit(
|
||||
const Affine3f cam2vol(pose.inv() * Affine3f(cameraPose));
|
||||
const Affine3f vol2cam(Affine3f(cameraPose.inv()) * pose);
|
||||
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
const Intr intrinsics(intr);
|
||||
const Intr intrinsics(mintr);
|
||||
const Intr::Reprojector reproj(intrinsics.makeReprojector());
|
||||
|
||||
const int nstripes = -1;
|
||||
@ -1094,7 +1092,6 @@ void raycastHashTsdfVolumeUnit(
|
||||
stepSize = tstep;
|
||||
}
|
||||
|
||||
//std::cout << prevTsdf << " " << currTsdf << " " << currWeight << std::endl;
|
||||
//! Surface crossing
|
||||
if (prevTsdf > 0.f && currTsdf <= 0.f && currWeight > 0)
|
||||
{
|
||||
@ -1124,20 +1121,20 @@ void raycastHashTsdfVolumeUnit(
|
||||
};
|
||||
|
||||
parallel_for_(Range(0, points.rows), _HashRaycastInvoker, nstripes);
|
||||
|
||||
//std::cout << "raycastHashTsdfVolumeUnit() end" << std::endl;
|
||||
}
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
|
||||
void ocl_raycastHashTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, const int volumeUnitDegree,
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr, const int volumeUnitDegree,
|
||||
const CustomHashSet& hashTable, InputArray _volUnitsData, OutputArray _points, OutputArray _normals)
|
||||
{
|
||||
CV_TRACE_FUNCTION();
|
||||
Size frameSize(width, height);
|
||||
CV_Assert(frameSize.area() > 0);
|
||||
|
||||
Matx33f mintr(intr.getMat());
|
||||
|
||||
UMat volUnitsData = _volUnitsData.getUMat();
|
||||
|
||||
String errorStr;
|
||||
@ -1156,9 +1153,7 @@ void ocl_raycastHashTsdfVolumeUnit(
|
||||
UMat points = _points.getUMat();
|
||||
UMat normals = _normals.getUMat();
|
||||
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
Intr intrinsics(intr);
|
||||
Intr intrinsics(mintr);
|
||||
Intr::Reprojector r = intrinsics.makeReprojector();
|
||||
Vec2f finv(r.fxinv, r.fyinv), cxy(r.cx, r.cy);
|
||||
|
||||
@ -1170,7 +1165,7 @@ void ocl_raycastHashTsdfVolumeUnit(
|
||||
const float voxelSizeInv = 1.f / voxelSize;
|
||||
|
||||
const Vec4i volStrides;
|
||||
settings.getVolumeDimensions(volStrides);
|
||||
settings.getVolumeStrides(volStrides);
|
||||
Vec3i resolution;
|
||||
settings.getVolumeResolution(resolution);
|
||||
const Point3i volResolution = Point3i(resolution);
|
||||
@ -1223,6 +1218,7 @@ void ocl_raycastHashTsdfVolumeUnit(
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void fetchNormalsFromHashTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, InputArray _volUnitsData, const VolumeUnitIndexes& volumeUnits,
|
||||
const int volumeUnitDegree, InputArray _points, OutputArray _normals)
|
||||
@ -1243,7 +1239,7 @@ void fetchNormalsFromHashTsdfVolumeUnit(
|
||||
const float voxelSizeInv = 1.f / voxelSize;
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
|
||||
Matx44f _pose;
|
||||
settings.getVolumePose(_pose);
|
||||
@ -1288,7 +1284,7 @@ void olc_fetchNormalsFromHashTsdfVolumeUnit(
|
||||
const float voxelSizeInv = 1.f / voxelSize;
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
|
||||
Matx44f _pose;
|
||||
settings.getVolumePose(_pose);
|
||||
@ -1334,7 +1330,7 @@ void fetchPointsNormalsFromHashTsdfVolumeUnit(
|
||||
const float volumeUnitSize = voxelSize * resolution[0];
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
|
||||
std::vector<Vec3i> totalVolUnits;
|
||||
for (const auto& keyvalue : volumeUnits)
|
||||
@ -1461,7 +1457,7 @@ void ocl_fetchPointsNormalsFromHashTsdfVolumeUnit(
|
||||
const float volumeUnitSize = voxelSize * resolution[0];
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
|
||||
Range _fetchRange(0, hashTable.last);
|
||||
|
||||
|
@ -290,7 +290,7 @@ void integrateHashTsdfVolumeUnit(
|
||||
InputArray _depth, InputArray _pixNorms, InputArray _volUnitsData, VolumeUnitIndexes& volumeUnits);
|
||||
|
||||
void raycastHashTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, const int volumeUnitDegree,
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr, const int volumeUnitDegree,
|
||||
InputArray _volUnitsData, const VolumeUnitIndexes& volumeUnits, OutputArray _points, OutputArray _normals);
|
||||
|
||||
void fetchNormalsFromHashTsdfVolumeUnit(
|
||||
@ -307,7 +307,7 @@ void ocl_integrateHashTsdfVolumeUnit(
|
||||
InputArray _depth, InputArray _pixNorms, InputArray _lastVisibleIndices, InputArray _volUnitsDataCopy, InputArray _volUnitsData, CustomHashSet& hashTable, InputArray _isActiveFlags);
|
||||
|
||||
void ocl_raycastHashTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, const int volumeUnitDegree,
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr, const int volumeUnitDegree,
|
||||
const CustomHashSet& hashTable, InputArray _volUnitsData, OutputArray _points, OutputArray _normals);
|
||||
|
||||
void olc_fetchNormalsFromHashTsdfVolumeUnit(
|
||||
|
@ -13,7 +13,7 @@ namespace cv {
|
||||
|
||||
void preCalculationPixNorm(Size size, const Intr& intrinsics, Mat& pixNorm)
|
||||
{
|
||||
//std::cout << "preCalculationPixNorm" << std::endl;
|
||||
CV_TRACE_FUNCTION();
|
||||
|
||||
Point2f fl(intrinsics.fx, intrinsics.fy);
|
||||
Point2f pp(intrinsics.cx, intrinsics.cy);
|
||||
@ -67,7 +67,7 @@ void integrateTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& volu
|
||||
TsdfVoxel* volDataStart = volume.ptr<TsdfVoxel>();
|
||||
|
||||
Vec4i volStrides;
|
||||
settings.getVolumeDimensions(volStrides);
|
||||
settings.getVolumeStrides(volStrides);
|
||||
|
||||
Vec3i resolution;
|
||||
settings.getVolumeResolution(resolution);
|
||||
@ -332,10 +332,7 @@ void integrateTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& volu
|
||||
void ocl_integrateTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose,
|
||||
InputArray _depth, InputArray _pixNorms, InputArray _volume)
|
||||
{
|
||||
//std::cout << "ocl_integrateTsdfVolumeUnit" << std::endl;
|
||||
|
||||
CV_TRACE_FUNCTION();
|
||||
//CV_UNUSED(frameId);
|
||||
CV_Assert(!_depth.empty());
|
||||
|
||||
UMat depth = _depth.getUMat();
|
||||
@ -369,7 +366,7 @@ void ocl_integrateTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f&
|
||||
Intr intrinsics(intr);
|
||||
Vec2f fxy(intrinsics.fx, intrinsics.fy), cxy(intrinsics.cx, intrinsics.cy);
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
|
||||
const float voxelSize = settings.getVoxelSize();
|
||||
const float truncatedDistance = settings.getTsdfTruncateDistance();
|
||||
@ -617,13 +614,17 @@ inline Point3f getNormalVoxel( const Mat& volume,
|
||||
}
|
||||
#endif
|
||||
|
||||
void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose,
|
||||
int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals)
|
||||
{
|
||||
//std::cout << "raycastVolumeUnit" << std::endl;
|
||||
CV_TRACE_FUNCTION();
|
||||
|
||||
const Size frameSize(width, height);
|
||||
//CV_Assert(frameSize.area() > 0);
|
||||
CV_Assert(frameSize.area() > 0);
|
||||
|
||||
Matx33f mintr(intr.getMat());
|
||||
|
||||
_points.create(frameSize, POINT_TYPE);
|
||||
_normals.create(frameSize, POINT_TYPE);
|
||||
|
||||
@ -631,7 +632,7 @@ void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& camera
|
||||
Normals normals = _normals.getMat();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -648,9 +649,6 @@ void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& camera
|
||||
const Point3i volResolution = Point3i(resolution);
|
||||
const Point3f volSize = Point3f(volResolution) * settings.getVoxelSize();
|
||||
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
|
||||
Matx44f _pose;
|
||||
settings.getVolumePose(_pose);
|
||||
const Affine3f pose = Affine3f(_pose);
|
||||
@ -663,7 +661,7 @@ void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& camera
|
||||
const Mat volume = _volume.getMat();
|
||||
float voxelSize = settings.getVoxelSize();
|
||||
float voxelSizeInv = 1.0f / voxelSize;
|
||||
const Intr::Reprojector reproj = Intr(intr).makeReprojector();
|
||||
const Intr::Reprojector reproj = Intr(mintr).makeReprojector();
|
||||
float tstep = settings.getTsdfTruncateDistance() * settings.getRaycastStepFactor();
|
||||
|
||||
Range raycastRange = Range(0, points.rows);
|
||||
@ -917,21 +915,21 @@ void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& camera
|
||||
|
||||
#endif
|
||||
parallel_for_(raycastRange, RaycastInvoker);
|
||||
//RaycastInvoker(raycastRange);
|
||||
}
|
||||
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose,
|
||||
int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals)
|
||||
{
|
||||
//std::cout << "ocl_raycastVolumeUnit" << std::endl;
|
||||
|
||||
CV_TRACE_FUNCTION();
|
||||
|
||||
const Size frameSize(width, height);
|
||||
CV_Assert(frameSize.area() > 0);
|
||||
|
||||
Matx33f mintr(intr.getMat());
|
||||
|
||||
String errorStr;
|
||||
String name = "raycast";
|
||||
ocl::ProgramSource source = ocl::_3d::tsdf_oclsrc;
|
||||
@ -949,7 +947,7 @@ void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& ca
|
||||
UMat normals = _normals.getUMat();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -975,9 +973,8 @@ void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& ca
|
||||
Affine3f cam2vol = pose.inv() * Affine3f(cameraPose);
|
||||
Mat(cam2vol.matrix).copyTo(cam2volGpu);
|
||||
Mat(vol2cam.matrix).copyTo(vol2camGpu);
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
Intr intrinsics(intr);
|
||||
|
||||
Intr intrinsics(mintr);
|
||||
Intr::Reprojector r = intrinsics.makeReprojector();
|
||||
|
||||
const UMat volume = _volume.getUMat();
|
||||
@ -1023,8 +1020,6 @@ void ocl_raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& ca
|
||||
|
||||
void fetchNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputArray _volume, InputArray _points, OutputArray _normals)
|
||||
{
|
||||
//std::cout << "fetchNormalsFromTsdfVolumeUnit" << std::endl;
|
||||
|
||||
CV_TRACE_FUNCTION();
|
||||
CV_Assert(!_points.empty());
|
||||
if (!_normals.needed())
|
||||
@ -1046,7 +1041,7 @@ void fetchNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputArray _
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -1099,7 +1094,7 @@ void ocl_fetchNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputArr
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -1222,7 +1217,7 @@ void fetchPointsNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputA
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
@ -1320,7 +1315,7 @@ void ocl_fetchPointsNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, In
|
||||
float voxelSizeInv = 1.f / settings.getVoxelSize();
|
||||
|
||||
const Vec4i volDims;
|
||||
settings.getVolumeDimensions(volDims);
|
||||
settings.getVolumeStrides(volDims);
|
||||
const Vec8i neighbourCoords = Vec8i(
|
||||
volDims.dot(Vec4i(0, 0, 0)),
|
||||
volDims.dot(Vec4i(0, 0, 1)),
|
||||
|
@ -175,7 +175,7 @@ void integrateTsdfVolumeUnit(
|
||||
InputArray _depth, InputArray _pixNorms, InputArray _volume);
|
||||
|
||||
|
||||
void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
void raycastTsdfVolumeUnit(const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals);
|
||||
|
||||
void fetchNormalsFromTsdfVolumeUnit(const VolumeSettings& settings, InputArray _volume,
|
||||
@ -191,7 +191,7 @@ void ocl_integrateTsdfVolumeUnit(
|
||||
InputArray _depth, InputArray _pixNorms, InputArray _volume);
|
||||
|
||||
void ocl_raycastTsdfVolumeUnit(
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width,
|
||||
const VolumeSettings& settings, const Matx44f& cameraPose, int height, int width, InputArray intr,
|
||||
InputArray _volume, OutputArray _points, OutputArray _normals);
|
||||
|
||||
void ocl_fetchNormalsFromTsdfVolumeUnit(
|
||||
|
@ -99,11 +99,13 @@ void TsdfVolume::integrate(InputArray, InputArray, InputArray)
|
||||
|
||||
void TsdfVolume::raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const
|
||||
{
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), points, normals, colors);
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), intr, points, normals, colors);
|
||||
}
|
||||
|
||||
|
||||
void TsdfVolume::raycast(InputArray _cameraPose, int height, int width, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
void TsdfVolume::raycast(InputArray _cameraPose, int height, int width, InputArray intr, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
{
|
||||
if (_colors.needed())
|
||||
CV_Error(cv::Error::StsBadFunc, "This volume doesn't support vertex colors");
|
||||
@ -113,12 +115,12 @@ void TsdfVolume::raycast(InputArray _cameraPose, int height, int width, OutputAr
|
||||
|
||||
const Matx44f cameraPose = _cameraPose.getMat();
|
||||
#ifndef HAVE_OPENCL
|
||||
raycastTsdfVolumeUnit(settings, cameraPose, height, width, volume, _points, _normals);
|
||||
raycastTsdfVolumeUnit(settings, cameraPose, height, width, intr, volume, _points, _normals);
|
||||
#else
|
||||
if (useGPU)
|
||||
ocl_raycastTsdfVolumeUnit(settings, cameraPose, height, width, gpu_volume, _points, _normals);
|
||||
ocl_raycastTsdfVolumeUnit(settings, cameraPose, height, width, intr, gpu_volume, _points, _normals);
|
||||
else
|
||||
raycastTsdfVolumeUnit(settings, cameraPose, height, width, cpu_volume, _points, _normals);
|
||||
raycastTsdfVolumeUnit(settings, cameraPose, height, width, intr, cpu_volume, _points, _normals);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -293,11 +295,13 @@ void HashTsdfVolume::integrate(InputArray, InputArray, InputArray)
|
||||
|
||||
void HashTsdfVolume::raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const
|
||||
{
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), points, normals, colors);
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), intr, points, normals, colors);
|
||||
}
|
||||
|
||||
|
||||
void HashTsdfVolume::raycast(InputArray _cameraPose, int height, int width, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
void HashTsdfVolume::raycast(InputArray _cameraPose, int height, int width, InputArray intr, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
{
|
||||
if (_colors.needed())
|
||||
CV_Error(cv::Error::StsBadFunc, "This volume doesn't support vertex colors");
|
||||
@ -305,12 +309,12 @@ void HashTsdfVolume::raycast(InputArray _cameraPose, int height, int width, Outp
|
||||
const Matx44f cameraPose = _cameraPose.getMat();
|
||||
|
||||
#ifndef HAVE_OPENCL
|
||||
raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, volumeUnitDegree, volUnitsData, volumeUnits, _points, _normals);
|
||||
raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, intr, volumeUnitDegree, volUnitsData, volumeUnits, _points, _normals);
|
||||
#else
|
||||
if (useGPU)
|
||||
ocl_raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, volumeUnitDegree, hashTable, gpu_volUnitsData, _points, _normals);
|
||||
ocl_raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, intr, volumeUnitDegree, hashTable, gpu_volUnitsData, _points, _normals);
|
||||
else
|
||||
raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, volumeUnitDegree, cpu_volUnitsData, cpu_volumeUnits, _points, _normals);
|
||||
raycastHashTsdfVolumeUnit(settings, cameraPose, height, width, intr, volumeUnitDegree, cpu_volUnitsData, cpu_volumeUnits, _points, _normals);
|
||||
#endif
|
||||
}
|
||||
|
||||
@ -525,13 +529,15 @@ void ColorTsdfVolume::integrate(InputArray _depth, InputArray _image, InputArray
|
||||
|
||||
void ColorTsdfVolume::raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const
|
||||
{
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), points, normals, colors);
|
||||
Matx33f intr;
|
||||
settings.getCameraRaycastIntrinsics(intr);
|
||||
raycast(cameraPose, settings.getRaycastHeight(), settings.getRaycastWidth(), intr, points, normals, colors);
|
||||
}
|
||||
|
||||
void ColorTsdfVolume::raycast(InputArray _cameraPose, int height, int width, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
void ColorTsdfVolume::raycast(InputArray _cameraPose, int height, int width, InputArray intr, OutputArray _points, OutputArray _normals, OutputArray _colors) const
|
||||
{
|
||||
const Matx44f cameraPose = _cameraPose.getMat();
|
||||
raycastColorTsdfVolumeUnit(settings, cameraPose, height, width, volume, _points, _normals, _colors);
|
||||
raycastColorTsdfVolumeUnit(settings, cameraPose, height, width, intr, volume, _points, _normals, _colors);
|
||||
}
|
||||
|
||||
void ColorTsdfVolume::fetchNormals(InputArray points, OutputArray normals) const
|
||||
|
@ -27,7 +27,7 @@ public:
|
||||
virtual void integrate(InputArray depth, InputArray image, InputArray pose) = 0;
|
||||
|
||||
virtual void raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const = 0;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors) const = 0;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, InputArray intr, OutputArray points, OutputArray normals, OutputArray colors) const = 0;
|
||||
|
||||
virtual void fetchNormals(InputArray points, OutputArray normals) const = 0;
|
||||
virtual void fetchPointsNormals(OutputArray points, OutputArray normals) const = 0;
|
||||
@ -42,7 +42,7 @@ public:
|
||||
virtual bool getEnableGrowth() const = 0;
|
||||
|
||||
public:
|
||||
const VolumeSettings& settings;
|
||||
VolumeSettings settings;
|
||||
#ifdef HAVE_OPENCL
|
||||
const bool useGPU;
|
||||
#endif
|
||||
@ -59,7 +59,7 @@ public:
|
||||
virtual void integrate(InputArray depth, InputArray pose) override;
|
||||
virtual void integrate(InputArray depth, InputArray image, InputArray pose) override;
|
||||
virtual void raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, InputArray intr, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
|
||||
virtual void fetchNormals(InputArray points, OutputArray normals) const override;
|
||||
virtual void fetchPointsNormals(OutputArray points, OutputArray normals) const override;
|
||||
@ -113,7 +113,7 @@ public:
|
||||
virtual void integrate(InputArray depth, InputArray pose) override;
|
||||
virtual void integrate(InputArray depth, InputArray image, InputArray pose) override;
|
||||
virtual void raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, InputArray intr, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
|
||||
virtual void fetchNormals(InputArray points, OutputArray normals) const override;
|
||||
virtual void fetchPointsNormals(OutputArray points, OutputArray normals) const override;
|
||||
@ -177,7 +177,7 @@ public:
|
||||
virtual void integrate(InputArray depth, InputArray pose) override;
|
||||
virtual void integrate(InputArray depth, InputArray image, InputArray pose) override;
|
||||
virtual void raycast(InputArray cameraPose, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
virtual void raycast(InputArray cameraPose, int height, int width, InputArray intr, OutputArray points, OutputArray normals, OutputArray colors) const override;
|
||||
|
||||
virtual void fetchNormals(InputArray points, OutputArray normals) const override;
|
||||
virtual void fetchPointsNormals(OutputArray points, OutputArray normals) const override;
|
||||
@ -216,7 +216,7 @@ Volume::Volume()
|
||||
VolumeSettings settings;
|
||||
this->impl = makePtr<TsdfVolume>(settings);
|
||||
}
|
||||
Volume::Volume(VolumeType vtype, const VolumeSettings& settings)
|
||||
Volume::Volume(VolumeType vtype, VolumeSettings settings)
|
||||
{
|
||||
switch (vtype)
|
||||
{
|
||||
@ -240,7 +240,7 @@ void Volume::integrate(const OdometryFrame& frame, InputArray pose) { this->impl
|
||||
void Volume::integrate(InputArray depth, InputArray pose) { this->impl->integrate(depth, pose); }
|
||||
void Volume::integrate(InputArray depth, InputArray image, InputArray pose) { this->impl->integrate(depth, image, pose); }
|
||||
void Volume::raycast(InputArray cameraPose, OutputArray _points, OutputArray _normals, OutputArray _colors) const { this->impl->raycast(cameraPose, _points, _normals, _colors); }
|
||||
void Volume::raycast(InputArray cameraPose, int height, int width, OutputArray _points, OutputArray _normals, OutputArray _colors) const { this->impl->raycast(cameraPose, height, width, _points, _normals, _colors); }
|
||||
void Volume::raycast(InputArray cameraPose, int height, int width, InputArray _intr, OutputArray _points, OutputArray _normals, OutputArray _colors) const { this->impl->raycast(cameraPose, height, width, _intr, _points, _normals, _colors); }
|
||||
void Volume::fetchNormals(InputArray points, OutputArray normals) const { this->impl->fetchNormals(points, normals); }
|
||||
void Volume::fetchPointsNormals(OutputArray points, OutputArray normals) const { this->impl->fetchPointsNormals(points, normals); }
|
||||
void Volume::fetchPointsNormalsColors(OutputArray points, OutputArray normals, OutputArray colors) const { this->impl->fetchPointsNormalsColors(points, normals, colors); };
|
||||
|
@ -8,7 +8,27 @@
|
||||
namespace cv
|
||||
{
|
||||
|
||||
Vec4i calcVolumeDimensions(Point3i volumeResolution, bool ZFirstMemOrder);
|
||||
static Vec4i calcVolumeStrides(Point3i volumeResolution, bool ZFirstMemOrder)
|
||||
{
|
||||
// (xRes*yRes*zRes) array
|
||||
// Depending on zFirstMemOrder arg:
|
||||
// &elem(x, y, z) = data + x*zRes*yRes + y*zRes + z;
|
||||
// &elem(x, y, z) = data + x + y*xRes + z*xRes*yRes;
|
||||
int xdim, ydim, zdim;
|
||||
if (ZFirstMemOrder)
|
||||
{
|
||||
xdim = volumeResolution.z * volumeResolution.y;
|
||||
ydim = volumeResolution.z;
|
||||
zdim = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
xdim = 1;
|
||||
ydim = volumeResolution.x;
|
||||
zdim = volumeResolution.x * volumeResolution.y;
|
||||
}
|
||||
return Vec4i(xdim, ydim, zdim);
|
||||
}
|
||||
|
||||
class VolumeSettings::Impl
|
||||
{
|
||||
@ -41,7 +61,7 @@ public:
|
||||
virtual void getVolumePose(OutputArray val) const = 0;
|
||||
virtual void setVolumeResolution(InputArray val) = 0;
|
||||
virtual void getVolumeResolution(OutputArray val) const = 0;
|
||||
virtual void getVolumeDimensions(OutputArray val) const = 0;
|
||||
virtual void getVolumeStrides(OutputArray val) const = 0;
|
||||
virtual void setCameraIntegrateIntrinsics(InputArray val) = 0;
|
||||
virtual void getCameraIntegrateIntrinsics(OutputArray val) const = 0;
|
||||
virtual void setCameraRaycastIntrinsics(InputArray val) = 0;
|
||||
@ -80,7 +100,7 @@ public:
|
||||
virtual void getVolumePose(OutputArray val) const override;
|
||||
virtual void setVolumeResolution(InputArray val) override;
|
||||
virtual void getVolumeResolution(OutputArray val) const override;
|
||||
virtual void getVolumeDimensions(OutputArray val) const override;
|
||||
virtual void getVolumeStrides(OutputArray val) const override;
|
||||
virtual void setCameraIntegrateIntrinsics(InputArray val) override;
|
||||
virtual void getCameraIntegrateIntrinsics(OutputArray val) const override;
|
||||
virtual void setCameraRaycastIntrinsics(InputArray val) override;
|
||||
@ -103,7 +123,7 @@ private:
|
||||
|
||||
Matx44f volumePose;
|
||||
Point3i volumeResolution;
|
||||
Vec4i volumeDimensions;
|
||||
Vec4i volumeStrides;
|
||||
Matx33f cameraIntegrateIntrinsics;
|
||||
Matx33f cameraRaycastIntrinsics;
|
||||
|
||||
@ -265,7 +285,7 @@ void VolumeSettings::setVolumePose(InputArray val) { this->impl->setVolumePose(v
|
||||
void VolumeSettings::getVolumePose(OutputArray val) const { this->impl->getVolumePose(val); };
|
||||
void VolumeSettings::setVolumeResolution(InputArray val) { this->impl->setVolumeResolution(val); };
|
||||
void VolumeSettings::getVolumeResolution(OutputArray val) const { this->impl->getVolumeResolution(val); };
|
||||
void VolumeSettings::getVolumeDimensions(OutputArray val) const { this->impl->getVolumeDimensions(val); };
|
||||
void VolumeSettings::getVolumeStrides(OutputArray val) const { this->impl->getVolumeStrides(val); };
|
||||
void VolumeSettings::setCameraIntegrateIntrinsics(InputArray val) { this->impl->setCameraIntegrateIntrinsics(val); };
|
||||
void VolumeSettings::getCameraIntegrateIntrinsics(OutputArray val) const { this->impl->getCameraIntegrateIntrinsics(val); };
|
||||
void VolumeSettings::setCameraRaycastIntrinsics(InputArray val) { this->impl->setCameraRaycastIntrinsics(val); };
|
||||
@ -298,7 +318,7 @@ VolumeSettingsImpl::VolumeSettingsImpl(VolumeType _volumeType)
|
||||
|
||||
this->volumePose = ds.volumePoseMatrix;
|
||||
this->volumeResolution = ds.volumeResolution;
|
||||
this->volumeDimensions = calcVolumeDimensions(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->volumeStrides = calcVolumeStrides(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->cameraIntegrateIntrinsics = ds.cameraIntegrateIntrinsics;
|
||||
this->cameraRaycastIntrinsics = ds.cameraRaycastIntrinsics;
|
||||
}
|
||||
@ -320,7 +340,7 @@ VolumeSettingsImpl::VolumeSettingsImpl(VolumeType _volumeType)
|
||||
|
||||
this->volumePose = ds.volumePoseMatrix;
|
||||
this->volumeResolution = ds.volumeResolution;
|
||||
this->volumeDimensions = calcVolumeDimensions(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->volumeStrides = calcVolumeStrides(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->cameraIntegrateIntrinsics = ds.cameraIntegrateIntrinsics;
|
||||
this->cameraRaycastIntrinsics = ds.cameraRaycastIntrinsics;
|
||||
}
|
||||
@ -342,7 +362,7 @@ VolumeSettingsImpl::VolumeSettingsImpl(VolumeType _volumeType)
|
||||
|
||||
this->volumePose = ds.volumePoseMatrix;
|
||||
this->volumeResolution = ds.volumeResolution;
|
||||
this->volumeDimensions = calcVolumeDimensions(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->volumeStrides = calcVolumeStrides(ds.volumeResolution, ds.zFirstMemOrder);
|
||||
this->cameraIntegrateIntrinsics = ds.cameraIntegrateIntrinsics;
|
||||
this->cameraRaycastIntrinsics = ds.cameraRaycastIntrinsics;
|
||||
}
|
||||
@ -470,7 +490,7 @@ void VolumeSettingsImpl::setVolumeResolution(InputArray val)
|
||||
if (!val.empty())
|
||||
{
|
||||
this->volumeResolution = Point3i(val.getMat());
|
||||
this->volumeDimensions = calcVolumeDimensions(this->volumeResolution, this->zFirstMemOrder);
|
||||
this->volumeStrides = calcVolumeStrides(this->volumeResolution, this->zFirstMemOrder);
|
||||
}
|
||||
}
|
||||
|
||||
@ -479,9 +499,9 @@ void VolumeSettingsImpl::getVolumeResolution(OutputArray val) const
|
||||
Mat(this->volumeResolution).copyTo(val);
|
||||
}
|
||||
|
||||
void VolumeSettingsImpl::getVolumeDimensions(OutputArray val) const
|
||||
void VolumeSettingsImpl::getVolumeStrides(OutputArray val) const
|
||||
{
|
||||
Mat(this->volumeDimensions).copyTo(val);
|
||||
Mat(this->volumeStrides).copyTo(val);
|
||||
}
|
||||
|
||||
void VolumeSettingsImpl::setCameraIntegrateIntrinsics(InputArray val)
|
||||
@ -511,27 +531,4 @@ void VolumeSettingsImpl::getCameraRaycastIntrinsics(OutputArray val) const
|
||||
Mat(this->cameraRaycastIntrinsics).copyTo(val);
|
||||
}
|
||||
|
||||
|
||||
Vec4i calcVolumeDimensions(Point3i volumeResolution, bool ZFirstMemOrder)
|
||||
{
|
||||
// (xRes*yRes*zRes) array
|
||||
// Depending on zFirstMemOrder arg:
|
||||
// &elem(x, y, z) = data + x*zRes*yRes + y*zRes + z;
|
||||
// &elem(x, y, z) = data + x + y*xRes + z*xRes*yRes;
|
||||
int xdim, ydim, zdim;
|
||||
if (ZFirstMemOrder)
|
||||
{
|
||||
xdim = volumeResolution.z * volumeResolution.y;
|
||||
ydim = volumeResolution.z;
|
||||
zdim = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
xdim = 1;
|
||||
ydim = volumeResolution.x;
|
||||
zdim = volumeResolution.x * volumeResolution.y;
|
||||
}
|
||||
return Vec4i(xdim, ydim, zdim);
|
||||
}
|
||||
|
||||
}
|
||||
|
@ -343,12 +343,13 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -367,14 +368,14 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
|
||||
if (testFunction == VolumeTestFunction::RAYCAST)
|
||||
{
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, unormals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
}
|
||||
else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
|
||||
{
|
||||
if (testSrcType == VolumeTestSrcType::MAT)
|
||||
{
|
||||
// takes only point from raycast for checking fetched normals on the display
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, utmpnormals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals);
|
||||
// volume.fetchPointsNormals(upoints, utmpnormals);
|
||||
volume.fetchNormals(upoints, unormals);
|
||||
}
|
||||
@ -402,12 +403,13 @@ void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -461,12 +463,13 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -485,7 +488,7 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
else
|
||||
volume.integrate(odf, poses[0].matrix);
|
||||
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, unormals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
|
||||
normals = unormals.getMat(af);
|
||||
points = upoints.getMat(af);
|
||||
@ -495,7 +498,7 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
if (cvtest::debugLevel > 0)
|
||||
displayImage(depth, points, normals, depthFactor, lightPose);
|
||||
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, upoints1, unormals1);
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints1, unormals1);
|
||||
|
||||
normals = unormals1.getMat(af);
|
||||
points = upoints1.getMat(af);
|
||||
@ -519,12 +522,13 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
|
@ -477,26 +477,31 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
bool onlySemisphere = false;
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false; //TODO: check both
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
Mat rgb = scene->rgb(poses[0]);
|
||||
Mat points, normals, tmpnormals, colors;
|
||||
//TODO: check this utmpnormals, it looks redundant
|
||||
UMat upoints, unormals, utmpnormals, ucolors;
|
||||
UMat udepth, urgb;
|
||||
depth.copyTo(udepth);
|
||||
rgb.copyTo(urgb);
|
||||
|
||||
OdometryFrame odf(rgb, depth);
|
||||
OdometryFrame odf(urgb, udepth);
|
||||
|
||||
if (testSrcType == VolumeTestSrcType::MAT)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.integrate(depth, rgb, poses[0].matrix);
|
||||
volume.integrate(udepth, urgb, poses[0].matrix);
|
||||
else
|
||||
volume.integrate(depth, poses[0].matrix);
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -506,26 +511,31 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
if (testFunction == VolumeTestFunction::RAYCAST)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
||||
else
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
}
|
||||
else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, tmpnormals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals, ucolors);
|
||||
else
|
||||
// hash_tsdf cpu don't works with raycast normals
|
||||
//volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, tmpnormals);
|
||||
volume.fetchPointsNormals(points, tmpnormals);
|
||||
// hash_tsdf cpu doesn't work with raycast normals
|
||||
//volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals);
|
||||
volume.fetchPointsNormals(upoints, utmpnormals);
|
||||
|
||||
volume.fetchNormals(points, normals);
|
||||
volume.fetchNormals(upoints, unormals);
|
||||
}
|
||||
else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS)
|
||||
{
|
||||
volume.fetchPointsNormals(points, normals);
|
||||
volume.fetchPointsNormals(upoints, unormals);
|
||||
}
|
||||
|
||||
Mat points, normals, colors;
|
||||
points = upoints.getMat(ACCESS_READ);
|
||||
normals = unormals.getMat(ACCESS_READ);
|
||||
colors = ucolors.getMat(ACCESS_READ);
|
||||
|
||||
if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
@ -544,12 +554,13 @@ void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -611,12 +622,13 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -639,9 +651,9 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
}
|
||||
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
|
||||
else
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals);
|
||||
|
||||
patchNaNs(points);
|
||||
anfas = counterOfValid(points);
|
||||
@ -658,9 +670,9 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
normals.release();
|
||||
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
|
||||
else
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals);
|
||||
|
||||
patchNaNs(points);
|
||||
profile = counterOfValid(points);
|
||||
@ -688,12 +700,13 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = true;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -803,11 +816,12 @@ void boundingBoxGrowthTest(bool enableGrowth)
|
||||
Volume volume(VolumeType::HashTSDF, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -972,12 +986,13 @@ void regressionVolPoseRot()
|
||||
Volume volumeRot(VolumeType::HashTSDF, vsRot);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false;
|
||||
float depthFactor = vs.getDepthFactor();
|
||||
Vec3f lightPose = Vec3f::all(0.f);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
||||
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@ -1203,250 +1218,330 @@ TEST_P(StaticVolumeBoundingBox, boundingBox)
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
|
||||
#else
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
enum PlatformType
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, reproduce_volPoseRot)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
regressionVolPoseRot();
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_fetch)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_fetch)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
CPU = 0, GPU = 1
|
||||
};
|
||||
CV_ENUM(PlatformTypeEnum, PlatformType::CPU, PlatformType::GPU);
|
||||
|
||||
// used to store current OpenCL status (on/off) and revert it after test is done
|
||||
// works even after exceptions thrown in test body
|
||||
struct OpenCLStatusRevert
|
||||
{
|
||||
OpenCLStatusRevert(bool oclStatus) : originalOpenCLStatus(oclStatus) { }
|
||||
#ifdef HAVE_OPENCL
|
||||
OpenCLStatusRevert()
|
||||
{
|
||||
originalOpenCLStatus = cv::ocl::useOpenCL();
|
||||
}
|
||||
~OpenCLStatusRevert()
|
||||
{
|
||||
cv::ocl::setUseOpenCL(originalOpenCLStatus);
|
||||
}
|
||||
void off()
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
}
|
||||
bool originalOpenCLStatus;
|
||||
#else
|
||||
void off() { }
|
||||
#endif
|
||||
};
|
||||
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<VolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, boundingBoxCPU)
|
||||
// CV_ENUM does not support enum class types, so let's implement the class explicitly
|
||||
namespace
|
||||
{
|
||||
OpenCLStatusRevert revert(cv::ocl::useOpenCL());
|
||||
struct VolumeTypeEnum
|
||||
{
|
||||
static const std::array<VolumeType, 3> vals;
|
||||
static const std::array<std::string, 3> svals;
|
||||
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
|
||||
staticBoundingBoxTest(GetParam());
|
||||
VolumeTypeEnum(VolumeType v = VolumeType::TSDF) : val(v) {}
|
||||
operator VolumeType() const { return val; }
|
||||
void PrintTo(std::ostream *os) const
|
||||
{
|
||||
int v = int(val);
|
||||
if (v >= 0 && v < 3)
|
||||
{
|
||||
*os << svals[v];
|
||||
}
|
||||
else
|
||||
{
|
||||
*os << "UNKNOWN";
|
||||
}
|
||||
}
|
||||
static ::testing::internal::ParamGenerator<VolumeTypeEnum> all()
|
||||
{
|
||||
return ::testing::Values(VolumeTypeEnum(vals[0]), VolumeTypeEnum(vals[1]), VolumeTypeEnum(vals[2]));
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
private:
|
||||
VolumeType val;
|
||||
};
|
||||
const std::array<VolumeType, 3> VolumeTypeEnum::vals{VolumeType::TSDF, VolumeType::HashTSDF, VolumeType::ColorTSDF};
|
||||
const std::array<std::string, 3> VolumeTypeEnum::svals{std::string("TSDF"), std::string("HashTSDF"), std::string("ColorTSDF")};
|
||||
|
||||
static inline void PrintTo(const VolumeTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
|
||||
}
|
||||
|
||||
typedef std::tuple<PlatformTypeEnum, VolumeTypeEnum> PlatformVolumeType;
|
||||
struct VolumeTestFixture : public ::testing::TestWithParam<PlatformVolumeType>
|
||||
{
|
||||
protected:
|
||||
void SetUp() override
|
||||
{
|
||||
auto p = GetParam();
|
||||
gpu = std::get<0>(p);
|
||||
volumeType = std::get<1>(p);
|
||||
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
}
|
||||
|
||||
bool gpu;
|
||||
VolumeType volumeType;
|
||||
OpenCLStatusRevert oclStatus;
|
||||
};
|
||||
|
||||
|
||||
TEST_P(VolumeTestFixture, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
normal_test_custom_framesize(volumeType, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
//TODO: uncomment it when ColorTSDF gets GPU version
|
||||
INSTANTIATE_TEST_CASE_P(VolumeCPU, VolumeTestFixture, /*::testing::Combine(PlatformTypeEnum::all(), VolumeTypeEnum::all())*/
|
||||
::testing::Values(PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::HashTSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::HashTSDF}));
|
||||
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, reproduce_volPoseRot)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
regressionVolPoseRot();
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_fetch)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_fetch)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<PlatformVolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, staticBoundingBox)
|
||||
{
|
||||
auto p = GetParam();
|
||||
bool gpu = bool(std::get<0>(p));
|
||||
VolumeType volumeType = std::get<1>(p);
|
||||
|
||||
OpenCLStatusRevert oclStatus;
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
|
||||
staticBoundingBoxTest(volumeType);
|
||||
}
|
||||
|
||||
//TODO: edit this list when ColorTSDF gets GPU support
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF}));
|
||||
|
||||
|
||||
// OpenCL tests
|
||||
@ -1455,44 +1550,31 @@ TEST(HashTSDF_GPU, reproduce_volPoseRot)
|
||||
regressionVolPoseRot();
|
||||
}
|
||||
|
||||
//TODO: use this when ColorTSDF gets GPU support
|
||||
/*
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<VolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, GPU)
|
||||
enum Growth
|
||||
{
|
||||
staticBoundingBoxTest(GetParam());
|
||||
}
|
||||
OFF = 0, ON = 1
|
||||
};
|
||||
CV_ENUM(GrowthEnum, Growth::OFF, Growth::ON);
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
*/
|
||||
|
||||
// until that, we don't need parametrized test
|
||||
TEST(TSDF, boundingBoxGPU)
|
||||
{
|
||||
staticBoundingBoxTest(VolumeType::TSDF);
|
||||
}
|
||||
|
||||
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<bool, bool>>
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, GrowthEnum>>
|
||||
{ };
|
||||
|
||||
TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
|
||||
{
|
||||
auto p = GetParam();
|
||||
bool gpu = std::get<0>(p);
|
||||
bool enableGrowth = std::get<1>(p);
|
||||
bool gpu = bool(std::get<0>(p));
|
||||
bool enableGrowth = bool(std::get<1>(p));
|
||||
|
||||
OpenCLStatusRevert revert(cv::ocl::useOpenCL());
|
||||
OpenCLStatusRevert oclStatus;
|
||||
|
||||
if (!gpu)
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
oclStatus.off();
|
||||
|
||||
boundingBoxGrowthTest(enableGrowth);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, BoundingBoxEnableGrowthTest, ::testing::Combine(::testing::Bool(), ::testing::Bool()));
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, BoundingBoxEnableGrowthTest, ::testing::Combine(PlatformTypeEnum::all(), GrowthEnum::all()));
|
||||
|
||||
#endif
|
||||
}
|
||||
|
Loading…
Reference in New Issue
Block a user