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warpFrame test parametrized

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Rostislav Vasilikhin 2022-07-24 18:22:48 +02:00
parent 75a8e3e956
commit d4e28f27b7
1 changed files with 29 additions and 28 deletions
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57
modules/3d/test/test_odometry.cpp
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@ -534,48 +534,49 @@ void WarpFrameTest::run(bool needRgb, bool scaleDown, bool checkMask, bool ident
warpFrame(srcDepth, srcRgb, srcMask, rt.matrix, K, dstDepth, dstRgb, dstMask);
}
typedef std::pair<int, int> WarpFrameInputTypes;
typedef testing::TestWithParam<WarpFrameInputTypes> WarpFrameInputs;
TEST(RGBD_Odometry_WarpFrame, inputTypes)
TEST_P(WarpFrameInputs, checkTypes)
{
// [depthType, rgbType]
std::array<int, 5*2> types =
{ CV_16U, CV_8UC3,
CV_32F, CV_8UC3,
CV_64F, CV_8UC3,
CV_32F, CV_8UC1,
CV_32F, CV_8UC4 };
const double shortl2diff = 233.983;
const double shortlidiff = 1;
const double floatl2diff = 0.038209;
const double floatlidiff = 0.00020004;
for (int i = 0; i < 5; i++)
{
int depthType = types[i*2 + 0];
int rgbType = types[i*2 + 1];
WarpFrameTest w;
// scale down does not happen on CV_16U
// to avoid integer overflow
w.run(/* needRgb */ true, /* scaleDown*/ true,
/* checkMask */ true, /* identityTransform */ false, depthType, rgbType);
int depthType = GetParam().first;
int rgbType = GetParam().second;
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
WarpFrameTest w;
// scale down does not happen on CV_16U
// to avoid integer overflow
w.run(/* needRgb */ true, /* scaleDown*/ true,
/* checkMask */ true, /* identityTransform */ false, depthType, rgbType);
EXPECT_EQ(0, maskDiff);
EXPECT_EQ(0, rgbDiff);
double rgbDiff = cv::norm(w.dstRgb, w.warpedRgb, NORM_L2);
double maskDiff = cv::norm(w.dstMask, w.warpedMask, NORM_L2);
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
EXPECT_EQ(0, maskDiff);
EXPECT_EQ(0, rgbDiff);
double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff;
double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff;
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
EXPECT_GE(l2threshold, l2diff);
EXPECT_GE(lithreshold, lidiff);
}
double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff;
double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff;
EXPECT_GE(l2threshold, l2diff);
EXPECT_GE(lithreshold, lidiff);
}
INSTANTIATE_TEST_CASE_P(RGBD_Odometry, WarpFrameInputs, ::testing::Values(
WarpFrameInputTypes { CV_16U, CV_8UC3 },
WarpFrameInputTypes { CV_32F, CV_8UC3 },
WarpFrameInputTypes { CV_64F, CV_8UC3 },
WarpFrameInputTypes { CV_32F, CV_8UC1 },
WarpFrameInputTypes { CV_32F, CV_8UC4 }));
TEST(RGBD_Odometry_WarpFrame, identity)
{
WarpFrameTest w;