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53aad98a1a
finiteMask() and doubles for patchNaNs() #23098 Related to #22826 Connected PR in extra: [#1037@extra](https://github.com/opencv/opencv_extra/pull/1037) ### TODOs: - [ ] Vectorize `finiteMask()` for 64FC3 and 64FC4 ### Changes This PR: * adds a new function `finiteMask()` * extends `patchNaNs()` by CV_64F support * moves `patchNaNs()` and `finiteMask()` to a separate file **NOTE:** now the function is called `finiteMask()` as discussed with the OpenCV core team ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [x] The feature is well documented and sample code can be built with the project CMake
1207 lines
36 KiB
C++
1207 lines
36 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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#include "test_precomp.hpp"
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namespace opencv_test {
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namespace {
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using namespace cv;
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/** Reprojects screen point to camera space given z coord. */
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struct Reprojector
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{
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Reprojector() {}
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inline Reprojector(Matx33f intr)
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{
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fxinv = 1.f / intr(0, 0), fyinv = 1.f / intr(1, 1);
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cx = intr(0, 2), cy = intr(1, 2);
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}
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template<typename T>
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inline cv::Point3_<T> operator()(cv::Point3_<T> p) const
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{
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T x = p.z * (p.x - cx) * fxinv;
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T y = p.z * (p.y - cy) * fyinv;
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return cv::Point3_<T>(x, y, p.z);
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}
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float fxinv, fyinv, cx, cy;
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};
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template<class Scene>
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struct RenderInvoker : ParallelLoopBody
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{
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RenderInvoker(Mat_<float>& _frame, Affine3f _pose,
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Reprojector _reproj, float _depthFactor, bool _onlySemisphere)
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: ParallelLoopBody(),
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frame(_frame),
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pose(_pose),
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reproj(_reproj),
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depthFactor(_depthFactor),
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onlySemisphere(_onlySemisphere)
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{ }
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virtual void operator ()(const cv::Range& r) const
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{
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for (int y = r.start; y < r.end; y++)
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{
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float* frameRow = frame[y];
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for (int x = 0; x < frame.cols; x++)
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{
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float pix = 0;
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Point3f orig = pose.translation();
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// direction through pixel
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Point3f screenVec = reproj(Point3f((float)x, (float)y, 1.f));
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float xyt = 1.f / (screenVec.x * screenVec.x +
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screenVec.y * screenVec.y + 1.f);
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Point3f dir = cv::normalize(Vec3f(pose.rotation() * screenVec));
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// screen space axis
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dir.y = -dir.y;
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const float maxDepth = 20.f;
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const float maxSteps = 256;
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float t = 0.f;
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for (int step = 0; step < maxSteps && t < maxDepth; step++)
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{
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Point3f p = orig + dir * t;
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float d = Scene::map(p, onlySemisphere);
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if (d < 0.000001f)
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{
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float depth = std::sqrt(t * t * xyt);
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pix = depth * depthFactor;
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break;
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}
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t += d;
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}
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frameRow[x] = pix;
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}
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}
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}
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Mat_<float>& frame;
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Affine3f pose;
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Reprojector reproj;
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float depthFactor;
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bool onlySemisphere;
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};
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template<class Scene>
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struct RenderColorInvoker : ParallelLoopBody
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{
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RenderColorInvoker(Mat_<Vec3f>& _frame, Affine3f _pose,
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Reprojector _reproj,
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float _depthFactor, bool _onlySemisphere) : ParallelLoopBody(),
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frame(_frame),
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pose(_pose),
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reproj(_reproj),
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depthFactor(_depthFactor),
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onlySemisphere(_onlySemisphere)
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{ }
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virtual void operator ()(const cv::Range& r) const
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{
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for (int y = r.start; y < r.end; y++)
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{
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Vec3f* frameRow = frame[y];
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for (int x = 0; x < frame.cols; x++)
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{
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Vec3f pix = 0;
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Point3f orig = pose.translation();
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// direction through pixel
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Point3f screenVec = reproj(Point3f((float)x, (float)y, 1.f));
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Point3f dir = cv::normalize(Vec3f(pose.rotation() * screenVec));
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// screen space axis
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dir.y = -dir.y;
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const float maxDepth = 20.f;
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const float maxSteps = 256;
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float t = 0.f;
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for (int step = 0; step < maxSteps && t < maxDepth; step++)
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{
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Point3f p = orig + dir * t;
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float d = Scene::map(p, onlySemisphere);
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if (d < 0.000001f)
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{
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float m = 0.25f;
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float p0 = float(abs(fmod(p.x, m)) > m / 2.f);
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float p1 = float(abs(fmod(p.y, m)) > m / 2.f);
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float p2 = float(abs(fmod(p.z, m)) > m / 2.f);
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pix[0] = p0 + p1;
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pix[1] = p1 + p2;
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pix[2] = p0 + p2;
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pix *= 128.f;
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break;
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}
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t += d;
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}
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frameRow[x] = pix;
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}
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}
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}
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Mat_<Vec3f>& frame;
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Affine3f pose;
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Reprojector reproj;
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float depthFactor;
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bool onlySemisphere;
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};
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struct Scene
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{
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virtual ~Scene() {}
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static Ptr<Scene> create(Size sz, Matx33f _intr, float _depthFactor, bool onlySemisphere);
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virtual Mat depth(Affine3f pose) = 0;
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virtual Mat rgb(Affine3f pose) = 0;
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virtual std::vector<Affine3f> getPoses() = 0;
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};
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struct SemisphereScene : Scene
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{
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const int framesPerCycle = 72;
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const float nCycles = 0.25f;
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const Affine3f startPose = Affine3f(Vec3f(0.f, 0.f, 0.f), Vec3f(1.5f, 0.3f, -2.1f));
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Size frameSize;
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Matx33f intr;
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float depthFactor;
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bool onlySemisphere;
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SemisphereScene(Size sz, Matx33f _intr, float _depthFactor, bool _onlySemisphere) :
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frameSize(sz), intr(_intr), depthFactor(_depthFactor), onlySemisphere(_onlySemisphere)
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{ }
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static float map(Point3f p, bool onlySemisphere)
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{
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float plane = p.y + 0.5f;
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Point3f spherePose = p - Point3f(-0.0f, 0.3f, 1.1f);
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float sphereRadius = 0.5f;
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float sphere = (float)cv::norm(spherePose) - sphereRadius;
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float sphereMinusBox = sphere;
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float subSphereRadius = 0.05f;
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Point3f subSpherePose = p - Point3f(0.3f, -0.1f, -0.3f);
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float subSphere = (float)cv::norm(subSpherePose) - subSphereRadius;
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float res;
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if (!onlySemisphere)
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res = min({ sphereMinusBox, subSphere, plane });
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else
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res = sphereMinusBox;
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return res;
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}
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Mat depth(Affine3f pose) override
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{
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Mat_<float> frame(frameSize);
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Reprojector reproj(intr);
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Range range(0, frame.rows);
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parallel_for_(range, RenderInvoker<SemisphereScene>(frame, pose, reproj, depthFactor, onlySemisphere));
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return std::move(frame);
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}
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Mat rgb(Affine3f pose) override
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{
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Mat_<Vec3f> frame(frameSize);
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Reprojector reproj(intr);
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Range range(0, frame.rows);
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parallel_for_(range, RenderColorInvoker<SemisphereScene>(frame, pose, reproj, depthFactor, onlySemisphere));
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return std::move(frame);
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}
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std::vector<Affine3f> getPoses() override
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{
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std::vector<Affine3f> poses;
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for (int i = 0; i < framesPerCycle * nCycles; i++)
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{
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float angle = (float)(CV_2PI * i / framesPerCycle);
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Affine3f pose;
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pose = pose.rotate(startPose.rotation());
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pose = pose.rotate(Vec3f(0.f, -0.5f, 0.f) * angle);
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pose = pose.translate(Vec3f(startPose.translation()[0] * sin(angle),
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startPose.translation()[1],
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startPose.translation()[2] * cos(angle)));
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poses.push_back(pose);
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}
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return poses;
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}
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};
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Ptr<Scene> Scene::create(Size sz, Matx33f _intr, float _depthFactor, bool _onlySemisphere)
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{
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return makePtr<SemisphereScene>(sz, _intr, _depthFactor, _onlySemisphere);
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}
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// this is a temporary solution
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// ----------------------------
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typedef cv::Vec4f ptype;
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typedef cv::Mat_< ptype > Points;
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typedef cv::Mat_< ptype > Colors;
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typedef Points Normals;
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typedef Size2i Size;
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template<int p>
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inline float specPow(float x)
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{
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if (p % 2 == 0)
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{
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float v = specPow<p / 2>(x);
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return v * v;
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}
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else
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{
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float v = specPow<(p - 1) / 2>(x);
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return v * v * x;
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}
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}
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template<>
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inline float specPow<0>(float /*x*/)
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{
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return 1.f;
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}
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template<>
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inline float specPow<1>(float x)
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{
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return x;
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}
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inline cv::Vec3f fromPtype(const ptype& x)
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{
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return cv::Vec3f(x[0], x[1], x[2]);
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}
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void renderPointsNormals(InputArray _points, InputArray _normals, OutputArray image, Affine3f lightPose)
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{
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Size sz = _points.size();
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image.create(sz, CV_8UC4);
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Points points = _points.getMat();
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Normals normals = _normals.getMat();
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Mat goods;
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finiteMask(points, goods);
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Mat_<Vec4b> img = image.getMat();
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Range range(0, sz.height);
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const int nstripes = -1;
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parallel_for_(range, [&](const Range&)
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{
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for (int y = range.start; y < range.end; y++)
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{
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Vec4b* imgRow = img[y];
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const ptype* ptsRow = points[y];
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const ptype* nrmRow = normals[y];
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const uchar* goodRow = goods.ptr<uchar>(y);
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for (int x = 0; x < sz.width; x++)
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{
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Point3f p = fromPtype(ptsRow[x]);
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Point3f n = fromPtype(nrmRow[x]);
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Vec4b color;
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if (!goodRow[x])
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{
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color = Vec4b(0, 32, 0, 0);
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}
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else
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{
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const float Ka = 0.3f; //ambient coeff
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const float Kd = 0.5f; //diffuse coeff
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const float Ks = 0.2f; //specular coeff
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const int sp = 20; //specular power
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const float Ax = 1.f; //ambient color, can be RGB
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const float Dx = 1.f; //diffuse color, can be RGB
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const float Sx = 1.f; //specular color, can be RGB
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const float Lx = 1.f; //light color
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Point3f l = cv::normalize(lightPose.translation() - Vec3f(p));
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Point3f v = cv::normalize(-Vec3f(p));
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Point3f r = cv::normalize(Vec3f(2.f * n * n.dot(l) - l));
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uchar ix = (uchar)((Ax * Ka * Dx + Lx * Kd * Dx * max(0.f, n.dot(l)) +
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Lx * Ks * Sx * specPow<sp>(max(0.f, r.dot(v)))) * 255.f);
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color = Vec4b(ix, ix, ix, 0);
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}
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imgRow[x] = color;
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}
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}
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}, nstripes);
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}
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void renderPointsNormalsColors(InputArray _points, InputArray, InputArray _colors, OutputArray image, Affine3f)
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{
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Size sz = _points.size();
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image.create(sz, CV_8UC4);
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Points points = _points.getMat();
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Colors colors = _colors.getMat();
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Mat goods, goodc, goodp;
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finiteMask(points, goodp);
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finiteMask(colors, goodc);
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goods = goodp & goodc;
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Mat_<Vec4b> img = image.getMat();
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Range range(0, sz.height);
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const int nstripes = -1;
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parallel_for_(range, [&](const Range&)
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{
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for (int y = range.start; y < range.end; y++)
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{
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Vec4b* imgRow = img[y];
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const ptype* clrRow = colors[y];
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const uchar* goodRow = goods.ptr<uchar>(y);
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for (int x = 0; x < sz.width; x++)
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{
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Point3f c = fromPtype(clrRow[x]);
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Vec4b color;
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if (!goodRow[x])
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{
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color = Vec4b(0, 32, 0, 0);
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}
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else
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{
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color = Vec4b((uchar)c.x, (uchar)c.y, (uchar)c.z, (uchar)0);
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}
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imgRow[x] = color;
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}
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}
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}, nstripes);
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}
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// ----------------------------
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void displayImage(Mat depth, Mat points, Mat normals, float depthFactor, Vec3f lightPose)
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{
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Mat image;
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patchNaNs(points);
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imshow("depth", depth * (1.f / depthFactor / 4.f));
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renderPointsNormals(points, normals, image, lightPose);
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imshow("render", image);
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waitKey(2000);
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destroyAllWindows();
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}
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void displayColorImage(Mat depth, Mat rgb, Mat points, Mat normals, Mat colors, float depthFactor, Vec3f lightPose)
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{
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Mat image;
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patchNaNs(points);
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imshow("depth", depth * (1.f / depthFactor / 4.f));
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imshow("rgb", rgb * (1.f / 255.f));
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renderPointsNormalsColors(points, normals, colors, image, lightPose);
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imshow("render", image);
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waitKey(2000);
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destroyAllWindows();
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}
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void normalsCheck(Mat normals)
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{
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Vec4f vector;
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int counter = 0;
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for (auto pvector = normals.begin<Vec4f>(); pvector < normals.end<Vec4f>(); pvector++)
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{
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vector = *pvector;
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if (!(cvIsNaN(vector[0]) || cvIsNaN(vector[1]) || cvIsNaN(vector[2])))
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{
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counter++;
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float l2 = vector[0] * vector[0] +
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vector[1] * vector[1] +
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vector[2] * vector[2];
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ASSERT_LT(abs(1.f - l2), 0.0001f) << "There is normal with length != 1";
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}
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}
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ASSERT_GT(counter, 0) << "There are no normals";
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}
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int counterOfValid(Mat points)
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{
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Vec4f* v;
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int i, j;
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int count = 0;
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for (i = 0; i < points.rows; ++i)
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{
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v = (points.ptr<Vec4f>(i));
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for (j = 0; j < points.cols; ++j)
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{
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if ((v[j])[0] != 0 ||
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(v[j])[1] != 0 ||
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(v[j])[2] != 0)
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{
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count++;
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}
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}
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}
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return count;
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}
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enum class VolumeTestFunction
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{
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RAYCAST = 0,
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FETCH_NORMALS = 1,
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FETCH_POINTS_NORMALS = 2
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};
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enum class VolumeTestSrcType
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{
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MAT = 0,
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ODOMETRY_FRAME = 1
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};
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enum class FrameSizeType
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{
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DEFAULT = 0,
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CUSTOM = 1
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};
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void debugVolumeDraw(const Volume &volume, Affine3f pose, Mat depth, float depthFactor, std::string objFname)
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{
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Vec3f lightPose = Vec3f::all(0.f);
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Mat points, normals;
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volume.raycast(pose.matrix, points, normals);
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Mat ptsList, ptsList3, nrmList, nrmList3;
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volume.fetchPointsNormals(ptsList, nrmList);
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// transform 4 channels to 3 channels
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cvtColor(ptsList, ptsList3, COLOR_BGRA2BGR);
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cvtColor(ptsList, nrmList3, COLOR_BGRA2BGR);
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savePointCloud(objFname, ptsList3, nrmList3);
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displayImage(depth, points, normals, depthFactor, lightPose);
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}
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// For fixed volumes which are TSDF and ColorTSDF
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void staticBoundingBoxTest(VolumeType volumeType)
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{
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VolumeSettings vs(volumeType);
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Volume volume(volumeType, vs);
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Vec3i res;
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vs.getVolumeResolution(res);
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float voxelSize = vs.getVoxelSize();
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Matx44f pose;
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vs.getVolumePose(pose);
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Vec3f end = voxelSize * Vec3f(res);
|
|
Vec6f truebb(0, 0, 0, end[0], end[1], end[2]);
|
|
Vec6f bb;
|
|
volume.getBoundingBox(bb, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
|
Vec6f diff = bb - truebb;
|
|
double normdiff = std::sqrt(diff.ddot(diff));
|
|
ASSERT_LE(normdiff, std::numeric_limits<double>::epsilon());
|
|
}
|
|
|
|
|
|
// For HashTSDF only
|
|
void boundingBoxGrowthTest(bool enableGrowth)
|
|
{
|
|
VolumeSettings vs(VolumeType::HashTSDF);
|
|
Volume volume(VolumeType::HashTSDF, vs);
|
|
|
|
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
|
Matx33f intrIntegrate, intrRaycast;
|
|
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
|
vs.getCameraRaycastIntrinsics(intrRaycast);
|
|
bool onlySemisphere = false;
|
|
float depthFactor = vs.getDepthFactor();
|
|
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
|
std::vector<Affine3f> poses = scene->getPoses();
|
|
|
|
Mat depth = scene->depth(poses[0]);
|
|
UMat udepth;
|
|
depth.copyTo(udepth);
|
|
|
|
// depth is integrated with multiple weight
|
|
// TODO: add weight parameter to integrate() call (both scalar and array of 8u/32f)
|
|
const int nIntegrations = 1;
|
|
for (int i = 0; i < nIntegrations; i++)
|
|
volume.integrate(udepth, poses[0].matrix);
|
|
|
|
Vec6f bb;
|
|
volume.getBoundingBox(bb, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
|
Vec6f truebb(-0.9375f, 1.3125f, -0.8906f, 3.9375f, 2.6133f, 1.4004f);
|
|
Vec6f diff = bb - truebb;
|
|
double bbnorm = std::sqrt(diff.ddot(diff));
|
|
|
|
Vec3f vuRes;
|
|
vs.getVolumeResolution(vuRes);
|
|
double vuSize = vs.getVoxelSize() * vuRes[0];
|
|
// it's OK to have such big difference since this is volume unit size-grained BB calculation
|
|
// Theoretical max difference can be sqrt(6) =(approx)= 2.4494
|
|
EXPECT_LE(bbnorm, vuSize * 2.38);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
debugVolumeDraw(volume, poses[0], depth, depthFactor, "pts.obj");
|
|
}
|
|
|
|
// Integrate another depth growth changed
|
|
|
|
Mat depth2 = scene->depth(poses[0].translate(Vec3f(0, -0.25f, 0)));
|
|
UMat udepth2;
|
|
depth2.copyTo(udepth2);
|
|
|
|
volume.setEnableGrowth(enableGrowth);
|
|
|
|
for (int i = 0; i < nIntegrations; i++)
|
|
volume.integrate(udepth2, poses[0].matrix);
|
|
|
|
Vec6f bb2;
|
|
volume.getBoundingBox(bb2, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
|
|
|
Vec6f truebb2 = truebb + Vec6f(0, -(1.3125f - 1.0723f), -(-0.8906f - (-1.4238f)), 0, 0, 0);
|
|
Vec6f diff2 = enableGrowth ? bb2 - truebb2 : bb2 - bb;
|
|
double bbnorm2 = std::sqrt(diff2.ddot(diff2));
|
|
EXPECT_LE(bbnorm2, enableGrowth ? (vuSize * 2.3) : std::numeric_limits<double>::epsilon());
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
debugVolumeDraw(volume, poses[0], depth, depthFactor, enableGrowth ? "pts_growth.obj" : "pts_no_growth.obj");
|
|
}
|
|
|
|
// Reset check
|
|
|
|
volume.reset();
|
|
Vec6f bb3;
|
|
volume.getBoundingBox(bb3, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
|
double bbnorm3 = std::sqrt(bb3.ddot(bb3));
|
|
EXPECT_LE(bbnorm3, std::numeric_limits<double>::epsilon());
|
|
}
|
|
|
|
|
|
template <typename VT>
|
|
static Mat_<typename VT::value_type> normalsErrorT(Mat_<VT> srcNormals, Mat_<VT> dstNormals)
|
|
{
|
|
typedef typename VT::value_type Val;
|
|
Mat out(srcNormals.size(), cv::traits::Depth<Val>::value, Scalar(0));
|
|
for (int y = 0; y < srcNormals.rows; y++)
|
|
{
|
|
|
|
VT *srcrow = srcNormals[y];
|
|
VT *dstrow = dstNormals[y];
|
|
Val *outrow = out.ptr<Val>(y);
|
|
for (int x = 0; x < srcNormals.cols; x++)
|
|
{
|
|
VT sn = srcrow[x];
|
|
VT dn = dstrow[x];
|
|
|
|
Val dot = sn.dot(dn);
|
|
Val v(0.0);
|
|
// Just for rounding errors
|
|
if (std::abs(dot) < 1)
|
|
v = std::min(std::acos(dot), std::acos(-dot));
|
|
|
|
outrow[x] = v;
|
|
}
|
|
}
|
|
return out;
|
|
}
|
|
|
|
static Mat normalsError(Mat srcNormals, Mat dstNormals)
|
|
{
|
|
int depth = srcNormals.depth();
|
|
int channels = srcNormals.channels();
|
|
|
|
if (depth == CV_32F)
|
|
{
|
|
if (channels == 3)
|
|
{
|
|
return normalsErrorT<Vec3f>(srcNormals, dstNormals);
|
|
}
|
|
else if (channels == 4)
|
|
{
|
|
return normalsErrorT<Vec4f>(srcNormals, dstNormals);
|
|
}
|
|
}
|
|
else if (depth == CV_64F)
|
|
{
|
|
if (channels == 3)
|
|
{
|
|
return normalsErrorT<Vec3d>(srcNormals, dstNormals);
|
|
}
|
|
else if (channels == 4)
|
|
{
|
|
return normalsErrorT<Vec4d>(srcNormals, dstNormals);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
CV_Error(Error::StsInternal, "This type is unsupported");
|
|
}
|
|
return Mat();
|
|
}
|
|
|
|
void regressionVolPoseRot()
|
|
{
|
|
// Make 2 volumes which differ only in their pose (especially rotation)
|
|
VolumeSettings vs(VolumeType::HashTSDF);
|
|
Volume volume0(VolumeType::HashTSDF, vs);
|
|
|
|
VolumeSettings vsRot(vs);
|
|
Matx44f pose;
|
|
vsRot.getVolumePose(pose);
|
|
pose = Affine3f(Vec3f(1, 1, 1), Vec3f()).matrix;
|
|
vsRot.setVolumePose(pose);
|
|
Volume volumeRot(VolumeType::HashTSDF, vsRot);
|
|
|
|
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
|
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, intrIntegrate, depthFactor, onlySemisphere);
|
|
std::vector<Affine3f> poses = scene->getPoses();
|
|
|
|
Mat depth = scene->depth(poses[0]);
|
|
UMat udepth;
|
|
depth.copyTo(udepth);
|
|
|
|
volume0.integrate(udepth, poses[0].matrix);
|
|
volumeRot.integrate(udepth, poses[0].matrix);
|
|
|
|
UMat upts, unrm, uptsRot, unrmRot;
|
|
|
|
volume0.raycast(poses[0].matrix, upts, unrm);
|
|
volumeRot.raycast(poses[0].matrix, uptsRot, unrmRot);
|
|
|
|
Mat mpts = upts.getMat(ACCESS_READ), mnrm = unrm.getMat(ACCESS_READ);
|
|
Mat mptsRot = uptsRot.getMat(ACCESS_READ), mnrmRot = unrmRot.getMat(ACCESS_READ);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
displayImage(depth, mpts, mnrm, depthFactor, lightPose);
|
|
displayImage(depth, mptsRot, mnrmRot, depthFactor, lightPose);
|
|
}
|
|
|
|
std::vector<Mat> ptsCh(3), ptsRotCh(3);
|
|
split(mpts, ptsCh);
|
|
split(uptsRot, ptsRotCh);
|
|
Mat maskPts0 = ptsCh[2] > 0;
|
|
Mat maskPtsRot = ptsRotCh[2] > 0;
|
|
Mat maskNrm0, maskNrmRot;
|
|
finiteMask(mnrm, maskNrm0);
|
|
finiteMask(mnrmRot, maskNrmRot);
|
|
Mat maskPtsDiff, maskNrmDiff;
|
|
cv::bitwise_xor(maskPts0, maskPtsRot, maskPtsDiff);
|
|
cv::bitwise_xor(maskNrm0, maskNrmRot, maskNrmDiff);
|
|
double ptsDiffNorm = cv::sum(maskPtsDiff)[0]/255.0;
|
|
double nrmDiffNorm = cv::sum(maskNrmDiff)[0]/255.0;
|
|
|
|
EXPECT_LE(ptsDiffNorm, 786);
|
|
EXPECT_LE(nrmDiffNorm, 786);
|
|
|
|
double normPts = cv::norm(mpts, mptsRot, NORM_INF, (maskPts0 & maskPtsRot));
|
|
Mat absdot = normalsError(mnrm, mnrmRot);
|
|
double normNrm = cv::norm(absdot, NORM_L2, (maskNrm0 & maskNrmRot));
|
|
|
|
EXPECT_LE(normPts, 2.0);
|
|
EXPECT_LE(normNrm, 73.08);
|
|
}
|
|
|
|
///////// Parametrized tests
|
|
|
|
enum PlatformType
|
|
{
|
|
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
|
|
{
|
|
#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
|
|
};
|
|
|
|
|
|
// CV_ENUM does not support enum class types, so let's implement the class explicitly
|
|
namespace
|
|
{
|
|
struct VolumeTypeEnum
|
|
{
|
|
static const std::array<VolumeType, 3> vals;
|
|
static const std::array<std::string, 3> svals;
|
|
|
|
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]));
|
|
}
|
|
|
|
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); }
|
|
|
|
|
|
struct VolumeTestSrcTypeEnum
|
|
{
|
|
static const std::array<VolumeTestSrcType, 2> vals;
|
|
static const std::array<std::string, 2> svals;
|
|
|
|
VolumeTestSrcTypeEnum(VolumeTestSrcType v = VolumeTestSrcType::MAT) : val(v) {}
|
|
operator VolumeTestSrcType() 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<VolumeTestSrcTypeEnum> all()
|
|
{
|
|
return ::testing::Values(VolumeTestSrcTypeEnum(vals[0]), VolumeTestSrcTypeEnum(vals[1]));
|
|
}
|
|
|
|
private:
|
|
VolumeTestSrcType val;
|
|
};
|
|
const std::array<VolumeTestSrcType, 2> VolumeTestSrcTypeEnum::vals{VolumeTestSrcType::MAT, VolumeTestSrcType::ODOMETRY_FRAME};
|
|
const std::array<std::string, 2> VolumeTestSrcTypeEnum::svals{std::string("UMat"), std::string("OdometryFrame")};
|
|
|
|
static inline void PrintTo(const VolumeTestSrcTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
|
|
|
|
|
|
struct FrameSizeTypeEnum
|
|
{
|
|
static const std::array<FrameSizeType, 2> vals;
|
|
static const std::array<std::string, 2> svals;
|
|
|
|
FrameSizeTypeEnum(FrameSizeType v = FrameSizeType::DEFAULT) : val(v) {}
|
|
operator FrameSizeType() 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<FrameSizeTypeEnum> all()
|
|
{
|
|
return ::testing::Values(FrameSizeTypeEnum(vals[0]), FrameSizeTypeEnum(vals[1]));
|
|
}
|
|
|
|
private:
|
|
FrameSizeType val;
|
|
};
|
|
const std::array<FrameSizeType, 2> FrameSizeTypeEnum::vals{FrameSizeType::DEFAULT, FrameSizeType::CUSTOM};
|
|
const std::array<std::string, 2> FrameSizeTypeEnum::svals{std::string("DefaultSize"), std::string("CustomSize")};
|
|
|
|
static inline void PrintTo(const FrameSizeTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
|
|
}
|
|
|
|
|
|
typedef std::tuple<PlatformTypeEnum, VolumeTypeEnum> PlatformVolumeType;
|
|
struct VolumeTestFixture : public ::testing::TestWithParam<std::tuple<PlatformVolumeType, VolumeTestSrcTypeEnum, FrameSizeTypeEnum>>
|
|
{
|
|
protected:
|
|
void SetUp() override
|
|
{
|
|
auto p = GetParam();
|
|
gpu = (std::get<0>(std::get<0>(p)) == PlatformType::GPU);
|
|
volumeType = std::get<1>(std::get<0>(p));
|
|
|
|
testSrcType = std::get<1>(p);
|
|
frameSizeSpecified = std::get<2>(p);
|
|
|
|
if (!gpu)
|
|
oclStatus.off();
|
|
|
|
vs = makePtr<VolumeSettings>(volumeType);
|
|
volume = makePtr<Volume>(volumeType, *vs);
|
|
|
|
frameSize = Size(vs->getRaycastWidth(), vs->getRaycastHeight());
|
|
vs->getCameraIntegrateIntrinsics(intrIntegrate);
|
|
vs->getCameraRaycastIntrinsics(intrRaycast);
|
|
bool onlySemisphere = true; //TODO: check both
|
|
depthFactor = vs->getDepthFactor();
|
|
lightPose = Vec3f::all(0.f);
|
|
scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
|
|
poses = scene->getPoses();
|
|
|
|
depth = scene->depth(poses[0]);
|
|
rgb = scene->rgb(poses[0]);
|
|
UMat udepth, urgb;
|
|
depth.copyTo(udepth);
|
|
rgb.copyTo(urgb);
|
|
|
|
OdometryFrame odf(udepth, urgb);
|
|
|
|
if (testSrcType == VolumeTestSrcType::MAT)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->integrate(udepth, urgb, poses[0].matrix);
|
|
else
|
|
volume->integrate(udepth, poses[0].matrix);
|
|
}
|
|
else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
|
|
{
|
|
volume->integrate(odf, poses[0].matrix);
|
|
}
|
|
}
|
|
|
|
void saveObj(std::string funcName, Mat points, Mat normals);
|
|
void raycast_test();
|
|
void fetch_points_normals_test();
|
|
void fetch_normals_test();
|
|
void valid_points_test();
|
|
|
|
bool gpu;
|
|
VolumeType volumeType;
|
|
VolumeTestSrcType testSrcType;
|
|
FrameSizeType frameSizeSpecified;
|
|
|
|
OpenCLStatusRevert oclStatus;
|
|
|
|
Ptr<Volume> volume;
|
|
Ptr<VolumeSettings> vs;
|
|
Size frameSize;
|
|
Matx33f intrIntegrate, intrRaycast;
|
|
Ptr<Scene> scene;
|
|
std::vector<Affine3f> poses;
|
|
float depthFactor;
|
|
Vec3f lightPose;
|
|
|
|
Mat depth, rgb;
|
|
};
|
|
|
|
|
|
void VolumeTestFixture::saveObj(std::string funcName, Mat points, Mat normals)
|
|
{
|
|
Mat pts3, nrm3;
|
|
cvtColor(points, pts3, COLOR_RGBA2RGB);
|
|
cvtColor(normals, nrm3, COLOR_RGBA2RGB);
|
|
string platformString = gpu ? "GPU" : "CPU";
|
|
string volumeTypeString = volumeType == VolumeType::TSDF ? "TSDF" :
|
|
volumeType == VolumeType::HashTSDF ? "HashTSDF" :
|
|
volumeType == VolumeType::ColorTSDF ? "ColorTSDF" : "";
|
|
string testSrcTypeString = testSrcType == VolumeTestSrcType::MAT ? "MAT" :
|
|
testSrcType == VolumeTestSrcType::ODOMETRY_FRAME ? "OFRAME" : "";
|
|
string frameSizeSpecifiedString = frameSizeSpecified == FrameSizeType::DEFAULT ? "DefaultSize" :
|
|
frameSizeSpecified == FrameSizeType::CUSTOM ? "CustomSize" : "";
|
|
savePointCloud(cv::format("pts_%s_%s_%s_%s_%s.obj", funcName.c_str(), platformString.c_str(), volumeTypeString.c_str(),
|
|
testSrcTypeString.c_str(), frameSizeSpecifiedString.c_str()),
|
|
pts3.reshape(3, 1), nrm3.reshape(3, 1));
|
|
}
|
|
|
|
void VolumeTestFixture::raycast_test()
|
|
{
|
|
UMat upoints, unormals, ucolors;
|
|
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
|
else
|
|
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
|
}
|
|
else if (frameSizeSpecified == FrameSizeType::DEFAULT)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[0].matrix, upoints, unormals, ucolors);
|
|
else
|
|
volume->raycast(poses[0].matrix, upoints, unormals);
|
|
}
|
|
|
|
Mat points, normals, colors;
|
|
points = upoints.getMat(ACCESS_READ);
|
|
normals = unormals.getMat(ACCESS_READ);
|
|
colors = ucolors.getMat(ACCESS_READ);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
displayColorImage(depth, rgb, points, normals, colors, depthFactor, lightPose);
|
|
else
|
|
displayImage(depth, points, normals, depthFactor, lightPose);
|
|
|
|
saveObj("raycast", points, normals);
|
|
}
|
|
|
|
normalsCheck(normals);
|
|
}
|
|
|
|
|
|
void VolumeTestFixture::fetch_normals_test()
|
|
{
|
|
UMat upoints, unormals;
|
|
volume->fetchPointsNormals(upoints, noArray());
|
|
|
|
volume->fetchNormals(upoints, unormals);
|
|
|
|
Mat points, normals;
|
|
points = upoints.getMat(ACCESS_READ);
|
|
normals = unormals.getMat(ACCESS_READ);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
saveObj("fetch_normals", points, normals);
|
|
}
|
|
|
|
normalsCheck(normals);
|
|
}
|
|
|
|
|
|
void VolumeTestFixture::fetch_points_normals_test()
|
|
{
|
|
UMat upoints, unormals;
|
|
volume->fetchPointsNormals(upoints, unormals);
|
|
|
|
Mat points, normals;
|
|
points = upoints.getMat(ACCESS_READ);
|
|
normals = unormals.getMat(ACCESS_READ);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
saveObj("fetch_points_normals", points, normals);
|
|
}
|
|
|
|
normalsCheck(normals);
|
|
}
|
|
|
|
|
|
void VolumeTestFixture::valid_points_test()
|
|
{
|
|
UMat upoints, unormals, ucolors;
|
|
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
|
else
|
|
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
|
}
|
|
else if (frameSizeSpecified == FrameSizeType::DEFAULT)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[0].matrix, upoints, unormals, ucolors);
|
|
else
|
|
volume->raycast(poses[0].matrix, upoints, unormals);
|
|
}
|
|
|
|
Mat points, normals, colors;
|
|
points = upoints.getMat(ACCESS_READ);
|
|
normals = unormals.getMat(ACCESS_READ);
|
|
colors = ucolors.getMat(ACCESS_READ);
|
|
|
|
patchNaNs(points);
|
|
int enface = counterOfValid(points);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
displayColorImage(depth, rgb, points, normals, colors, depthFactor, lightPose);
|
|
else
|
|
displayImage(depth, points, normals, depthFactor, lightPose);
|
|
}
|
|
|
|
UMat upoints2, unormals2, ucolors2;
|
|
Mat points2, normals2, colors2;
|
|
|
|
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints2, unormals2, ucolors2);
|
|
else
|
|
volume->raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints2, unormals2);
|
|
}
|
|
else
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
volume->raycast(poses[17].matrix, upoints2, unormals2, ucolors2);
|
|
else
|
|
volume->raycast(poses[17].matrix, upoints2, unormals2);
|
|
}
|
|
|
|
points2 = upoints2.getMat(ACCESS_READ);
|
|
normals2 = unormals2.getMat(ACCESS_READ);
|
|
colors2 = ucolors2.getMat(ACCESS_READ);
|
|
|
|
patchNaNs(points2);
|
|
int profile = counterOfValid(points2);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
{
|
|
if (volumeType == VolumeType::ColorTSDF)
|
|
displayColorImage(depth, rgb, points2, normals2, colors2, depthFactor, lightPose);
|
|
else
|
|
displayImage(depth, points2, normals2, depthFactor, lightPose);
|
|
}
|
|
|
|
ASSERT_GT(profile, 0) << "There are no points in profile";
|
|
ASSERT_GT(enface, 0) << "There are no points in enface";
|
|
|
|
// TODO: why profile == 2*enface ?
|
|
float percentValidity = float(enface) / float(profile) * 100;
|
|
|
|
ASSERT_NEAR(percentValidity, 50, 6);
|
|
}
|
|
|
|
TEST_P(VolumeTestFixture, valid_points)
|
|
{
|
|
valid_points_test();
|
|
}
|
|
|
|
TEST_P(VolumeTestFixture, raycast_normals)
|
|
{
|
|
raycast_test();
|
|
}
|
|
|
|
//TODO: this test should run just 1 time, not 4
|
|
TEST_P(VolumeTestFixture, fetch_points_normals)
|
|
{
|
|
fetch_points_normals_test();
|
|
}
|
|
//TODO: this test should run just 1 time, not 4
|
|
TEST_P(VolumeTestFixture, fetch_normals)
|
|
{
|
|
fetch_normals_test();
|
|
}
|
|
|
|
//TODO: fix it when ColorTSDF gets GPU version
|
|
INSTANTIATE_TEST_CASE_P(Volume, VolumeTestFixture, /*::testing::Combine(PlatformTypeEnum::all(), VolumeTypeEnum::all())*/
|
|
::testing::Combine(
|
|
::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}),
|
|
VolumeTestSrcTypeEnum::all(), FrameSizeTypeEnum::all()));
|
|
|
|
|
|
class StaticVolumeBoundingBox : public ::testing::TestWithParam<PlatformVolumeType>
|
|
{ };
|
|
|
|
TEST_P(StaticVolumeBoundingBox, staticBoundingBox)
|
|
{
|
|
auto p = GetParam();
|
|
bool gpu = (std::get<0>(p) == PlatformType::GPU);
|
|
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(Volume, StaticVolumeBoundingBox, ::testing::Values(
|
|
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
|
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
|
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF}));
|
|
|
|
|
|
class ReproduceVolPoseRotTest : public ::testing::TestWithParam<PlatformTypeEnum>
|
|
{ };
|
|
|
|
TEST_P(ReproduceVolPoseRotTest, reproduce_volPoseRot)
|
|
{
|
|
bool gpu = (GetParam() == PlatformType::GPU);
|
|
|
|
OpenCLStatusRevert oclStatus;
|
|
|
|
if (!gpu)
|
|
oclStatus.off();
|
|
|
|
regressionVolPoseRot();
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(Volume, ReproduceVolPoseRotTest, PlatformTypeEnum::all());
|
|
|
|
|
|
enum Growth
|
|
{
|
|
OFF = 0, ON = 1
|
|
};
|
|
CV_ENUM(GrowthEnum, Growth::OFF, Growth::ON);
|
|
|
|
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, GrowthEnum>>
|
|
{ };
|
|
|
|
TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
|
|
{
|
|
auto p = GetParam();
|
|
bool gpu = (std::get<0>(p) == PlatformType::GPU);
|
|
bool enableGrowth = (std::get<1>(p) == Growth::ON);
|
|
|
|
OpenCLStatusRevert oclStatus;
|
|
|
|
if (!gpu)
|
|
oclStatus.off();
|
|
|
|
boundingBoxGrowthTest(enableGrowth);
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(Volume, BoundingBoxEnableGrowthTest, ::testing::Combine(PlatformTypeEnum::all(), GrowthEnum::all()));
|
|
|
|
}
|
|
} // namespace
|