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3d: fix static init in test

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This commit is contained in:
Maksim Shabunin 2023-11-09 22:07:59 +03:00
parent 53aad98a1a
commit fefbcfeb0b
1 changed files with 7 additions and 7 deletions
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14
modules/3d/test/test_normal.cpp
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@ -15,8 +15,8 @@ float focal_length = 525;
float cx = W / 2.f + 0.5f; float cx = W / 2.f + 0.5f;
float cy = H / 2.f + 0.5f; float cy = H / 2.f + 0.5f;
Mat K = (Mat_<double>(3, 3) << focal_length, 0, cx, 0, focal_length, cy, 0, 0, 1); static Mat K() { static Mat res = (Mat_<double>(3, 3) << focal_length, 0, cx, 0, focal_length, cy, 0, 0, 1); return res; }
Mat Kinv = K.inv(); static Mat Kinv() { static Mat res = K().inv(); return res; }
void points3dToDepth16U(const Mat_<Vec4f>& points3d, Mat& depthMap); void points3dToDepth16U(const Mat_<Vec4f>& points3d, Mat& depthMap);
@ -31,7 +31,7 @@ void points3dToDepth16U(const Mat_<Vec4f>& points3d, Mat& depthMap)
depthMap = Mat::zeros(H, W, CV_32F); depthMap = Mat::zeros(H, W, CV_32F);
Vec3f R(0.0, 0.0, 0.0); Vec3f R(0.0, 0.0, 0.0);
Vec3f T(0.0, 0.0, 0.0); Vec3f T(0.0, 0.0, 0.0);
cv::projectPoints(points3dvec, R, T, K, Mat(), img_points); cv::projectPoints(points3dvec, R, T, K(), Mat(), img_points);
float maxv = 0.f; float maxv = 0.f;
int index = 0; int index = 0;
@ -119,7 +119,7 @@ void gen_points_3d(std::vector<Plane>& planes_out, Mat_<unsigned char> &plane_ma
double maxz = 0.0; double maxz = 0.0;
for (auto p : corners) for (auto p : corners)
{ {
Vec3d v = px.pixelIntersection(p.x, p.y, Kinv); Vec3d v = px.pixelIntersection(p.x, p.y, Kinv());
minz = std::min(minz, v[2]); minz = std::min(minz, v[2]);
maxz = std::max(maxz, v[2]); maxz = std::max(maxz, v[2]);
} }
@ -147,7 +147,7 @@ void gen_points_3d(std::vector<Plane>& planes_out, Mat_<unsigned char> &plane_ma
{ {
unsigned int plane_index = (unsigned int)((u / float(W)) * planes.size()); unsigned int plane_index = (unsigned int)((u / float(W)) * planes.size());
Plane plane = planes[plane_index]; Plane plane = planes[plane_index];
Vec3f pt = Vec3f(plane.pixelIntersection((double)u, (double)v, Kinv) * scale); Vec3f pt = Vec3f(plane.pixelIntersection((double)u, (double)v, Kinv()) * scale);
outp(v, u) = {pt[0], pt[1], pt[2], 0}; outp(v, u) = {pt[0], pt[1], pt[2], 0};
outn(v, u) = {(float)plane.nd[0], (float)plane.nd[1], (float)plane.nd[2], 0}; outn(v, u) = {(float)plane.nd[0], (float)plane.nd[1], (float)plane.nd[2], 0};
plane_mask(v, u) = (uchar)plane_index; plane_mask(v, u) = (uchar)plane_index;
@ -184,7 +184,7 @@ protected:
idx = std::get<1>(p); idx = std::get<1>(p);
float diffThreshold = scale ? 100000.f : 50.f; float diffThreshold = scale ? 100000.f : 50.f;
normalsComputer = RgbdNormals::create(H, W, depth, K, 5, diffThreshold, alg); normalsComputer = RgbdNormals::create(H, W, depth, K(), 5, diffThreshold, alg);
normalsComputer->cache(); normalsComputer->cache();
} }
@ -667,7 +667,7 @@ TEST_P(RgbdPlaneGenerate, compute)
{ {
// First, get the normals // First, get the normals
int depth = CV_32F; int depth = CV_32F;
Ptr<RgbdNormals> normalsComputer = RgbdNormals::create(H, W, depth, K, 5, 50.f, RgbdNormals::RGBD_NORMALS_METHOD_FALS); Ptr<RgbdNormals> normalsComputer = RgbdNormals::create(H, W, depth, K(), 5, 50.f, RgbdNormals::RGBD_NORMALS_METHOD_FALS);
normalsComputer->apply(points3d, normals); normalsComputer->apply(points3d, normals);
} }