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d49958141e
Fixes #22799 Replaces #21559 which was taken as a base Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388) ### Changes OK, now this is more Odometry-related PR than Volume-related. Anyway, * `Volume` class gets wrapped * The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings` * `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd. This works better for depth-only `Odometry` algorithms. * `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()` * `Odometry` was fully wrapped + more docs added * Added Python tests for `Odometry`, `OdometryFrame` and `Volume` * Added Python sample for `Volume` * Minor fixes including better var names ### 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
89 lines
3.2 KiB
Python
89 lines
3.2 KiB
Python
#!/usr/bin/env python
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import numpy as np
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class odometry_test(NewOpenCVTests):
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def commonOdometryTest(self, needRgb, otype, algoType, useFrame):
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depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
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if needRgb:
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rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
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radian = np.radians(1)
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Rt_warp = np.array(
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[[np.cos(radian), -np.sin(radian), 0],
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[np.sin(radian), np.cos(radian), 0],
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[0, 0, 1]], dtype=np.float32
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)
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Rt_curr = np.array(
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[[np.cos(radian), -np.sin(radian), 0, 0],
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[np.sin(radian), np.cos(radian), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]], dtype=np.float32
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)
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Rt_res = np.zeros((4, 4))
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if otype is not None:
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settings = cv.OdometrySettings()
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odometry = cv.Odometry(otype, settings, algoType)
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else:
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odometry = cv.Odometry()
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warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
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if needRgb:
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warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
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if useFrame:
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if needRgb:
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srcFrame = cv.OdometryFrame(depth, rgb)
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dstFrame = cv.OdometryFrame(warped_depth, warped_rgb)
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else:
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srcFrame = cv.OdometryFrame(depth)
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dstFrame = cv.OdometryFrame(warped_depth)
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odometry.prepareFrames(srcFrame, dstFrame)
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isCorrect = odometry.compute(srcFrame, dstFrame, Rt_res)
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else:
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if needRgb:
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isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
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else:
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isCorrect = odometry.compute(depth, warped_depth, Rt_res)
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res = np.absolute(Rt_curr - Rt_res).sum()
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eps = 0.15
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self.assertLessEqual(res, eps)
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self.assertTrue(isCorrect)
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def test_OdometryDefault(self):
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self.commonOdometryTest(False, None, None, False)
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def test_OdometryDefaultFrame(self):
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self.commonOdometryTest(False, None, None, True)
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def test_OdometryDepth(self):
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self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, False)
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def test_OdometryDepthFast(self):
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self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, False)
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def test_OdometryDepthFrame(self):
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self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, True)
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def test_OdometryDepthFastFrame(self):
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self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, True)
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def test_OdometryRGB(self):
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self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, False)
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def test_OdometryRGBFrame(self):
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self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, True)
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def test_OdometryRGB_Depth(self):
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self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, False)
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def test_OdometryRGB_DepthFrame(self):
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self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, True)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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