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6699ca1a40
Fix mesh loading for texture coordinates and face indices #25382 ### This PR changes * Texture coordinates were stored incorrectly (3-channel array is read as if there were 2 channels), fixed * Faces were pushed back to the output array instead of indexed writing which produced a lot of empty faces, fixed * A set of ground truth tests were added to cover these issues * `std::vector<cv::Mat>` support added for `saveMesh()` which is required for Python bindings * More command line args were added to rasterization test data generator ### 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
343 lines
9.3 KiB
C++
343 lines
9.3 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 "perf_precomp.hpp"
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namespace opencv_test
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{
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// that was easier than using CV_ENUM() macro
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namespace
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{
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using namespace cv;
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struct ShadingTypeEnum
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{
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static const std::array<TriangleShadingType, 3> vals;
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static const std::array<std::string, 3> svals;
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ShadingTypeEnum(TriangleShadingType v = RASTERIZE_SHADING_WHITE) : val(v) {}
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operator TriangleShadingType() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<ShadingTypeEnum> all()
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{
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return ::testing::Values(ShadingTypeEnum(vals[0]),
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ShadingTypeEnum(vals[1]),
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ShadingTypeEnum(vals[2]));
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}
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private:
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TriangleShadingType val;
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};
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const std::array<TriangleShadingType, 3> ShadingTypeEnum::vals
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{
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RASTERIZE_SHADING_WHITE,
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RASTERIZE_SHADING_FLAT,
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RASTERIZE_SHADING_SHADED
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};
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const std::array<std::string, 3> ShadingTypeEnum::svals
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{
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std::string("White"),
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std::string("Flat"),
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std::string("Shaded")
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};
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static inline void PrintTo(const ShadingTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
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using namespace cv;
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struct GlCompatibleModeEnum
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{
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static const std::array<TriangleGlCompatibleMode, 2> vals;
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static const std::array<std::string, 2> svals;
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GlCompatibleModeEnum(TriangleGlCompatibleMode v = RASTERIZE_COMPAT_DISABLED) : val(v) {}
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operator TriangleGlCompatibleMode() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<GlCompatibleModeEnum> all()
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{
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return ::testing::Values(GlCompatibleModeEnum(vals[0]),
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GlCompatibleModeEnum(vals[1]));
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}
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private:
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TriangleGlCompatibleMode val;
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};
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const std::array<TriangleGlCompatibleMode, 2> GlCompatibleModeEnum::vals
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{
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RASTERIZE_COMPAT_DISABLED,
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RASTERIZE_COMPAT_INVDEPTH,
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};
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const std::array<std::string, 2> GlCompatibleModeEnum::svals
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{
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std::string("Disabled"),
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std::string("InvertedDepth"),
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};
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static inline void PrintTo(const GlCompatibleModeEnum &t, std::ostream *os) { t.PrintTo(os); }
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}
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enum class Outputs
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{
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DepthOnly = 0,
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ColorOnly = 1,
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DepthColor = 2,
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};
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// that was easier than using CV_ENUM() macro
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namespace
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{
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using namespace cv;
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struct OutputsEnum
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{
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static const std::array<Outputs, 3> vals;
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static const std::array<std::string, 3> svals;
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OutputsEnum(Outputs v = Outputs::DepthColor) : val(v) {}
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operator Outputs() const { return val; }
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void PrintTo(std::ostream *os) const
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{
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int v = int(val);
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if (v >= 0 && v < (int)vals.size())
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{
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*os << svals[v];
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}
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else
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{
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*os << "UNKNOWN";
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}
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}
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static ::testing::internal::ParamGenerator<OutputsEnum> all()
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{
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return ::testing::Values(OutputsEnum(vals[0]),
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OutputsEnum(vals[1]),
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OutputsEnum(vals[2]));
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}
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private:
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Outputs val;
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};
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const std::array<Outputs, 3> OutputsEnum::vals
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{
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Outputs::DepthOnly,
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Outputs::ColorOnly,
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Outputs::DepthColor
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};
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const std::array<std::string, 3> OutputsEnum::svals
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{
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std::string("DepthOnly"),
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std::string("ColorOnly"),
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std::string("DepthColor")
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};
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static inline void PrintTo(const OutputsEnum &t, std::ostream *os) { t.PrintTo(os); }
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}
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static Matx44d lookAtMatrixCal(const Vec3d& position, const Vec3d& lookat, const Vec3d& upVector)
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{
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Vec3d w = cv::normalize(position - lookat);
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Vec3d u = cv::normalize(upVector.cross(w));
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Vec3d v = w.cross(u);
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Matx44d res(u[0], u[1], u[2], 0,
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v[0], v[1], v[2], 0,
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w[0], w[1], w[2], 0,
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0, 0, 0, 1.0);
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Matx44d translate(1.0, 0, 0, -position[0],
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0, 1.0, 0, -position[1],
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0, 0, 1.0, -position[2],
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0, 0, 0, 1.0);
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res = res * translate;
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return res;
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}
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static void generateNormals(const std::vector<Vec3f>& points, const std::vector<std::vector<int>>& indices,
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std::vector<Vec3f>& normals)
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{
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std::vector<std::vector<Vec3f>> preNormals(points.size(), std::vector<Vec3f>());
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for (const auto& tri : indices)
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{
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Vec3f p0 = points[tri[0]];
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Vec3f p1 = points[tri[1]];
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Vec3f p2 = points[tri[2]];
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Vec3f cross = cv::normalize((p1 - p0).cross(p2 - p0));
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for (int i = 0; i < 3; i++)
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{
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preNormals[tri[i]].push_back(cross);
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}
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}
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normals.reserve(points.size());
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for (const auto& pn : preNormals)
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{
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Vec3f sum { };
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for (const auto& n : pn)
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{
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sum += n;
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}
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normals.push_back(cv::normalize(sum));
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}
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}
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// load model once and keep it in static memory
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static void getModelOnce(const std::string& objectPath, std::vector<Vec3f>& vertices,
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std::vector<Vec3i>& indices, std::vector<Vec3f>& colors)
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{
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static bool load = false;
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static std::vector<Vec3f> vert, col;
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static std::vector<Vec3i> ind;
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if (!load)
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{
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std::vector<vector<int>> indvec;
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// using per-vertex normals as colors
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loadMesh(objectPath, vert, indvec);
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generateNormals(vert, indvec, col);
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for (const auto &vec : indvec)
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{
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ind.push_back({vec[0], vec[1], vec[2]});
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}
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for (auto &color : col)
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{
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color = Vec3f(abs(color[0]), abs(color[1]), abs(color[2]));
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}
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load = true;
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}
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vertices = vert;
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colors = col;
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indices = ind;
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}
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template<typename T>
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std::string printEnum(T v)
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{
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std::ostringstream ss;
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v.PrintTo(&ss);
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return ss.str();
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}
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// resolution, shading type, outputs needed
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typedef perf::TestBaseWithParam<std::tuple<std::tuple<int, int>, ShadingTypeEnum, OutputsEnum, GlCompatibleModeEnum>> RenderingTest;
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PERF_TEST_P(RenderingTest, rasterizeTriangles, ::testing::Combine(
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::testing::Values(std::make_tuple(1920, 1080), std::make_tuple(1024, 768), std::make_tuple(640, 480)),
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ShadingTypeEnum::all(),
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OutputsEnum::all(),
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GlCompatibleModeEnum::all()
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))
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{
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auto t = GetParam();
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auto wh = std::get<0>(t);
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int width = std::get<0>(wh);
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int height = std::get<1>(wh);
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auto shadingType = std::get<1>(t);
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auto outputs = std::get<2>(t);
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auto glCompatibleMode = std::get<3>(t);
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string objectPath = findDataFile("viz/dragon.ply");
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Vec3f position = Vec3d( 1.9, 0.4, 1.3);
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Vec3f lookat = Vec3d( 0.0, 0.0, 0.0);
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Vec3f upVector = Vec3d( 0.0, 1.0, 0.0);
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double fovy = 45.0;
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std::vector<Vec3f> vertices;
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std::vector<Vec3i> indices;
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std::vector<Vec3f> colors;
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getModelOnce(objectPath, vertices, indices, colors);
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if (shadingType != RASTERIZE_SHADING_WHITE)
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{
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// let vertices be in BGR format to avoid later color conversions
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// mixChannels does not support in-place operation
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cv::mixChannels(Mat(colors).clone(), colors, {0, 2, 1, 1, 2, 0});
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}
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double zNear = 0.1, zFar = 50.0;
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Matx44d cameraPose = lookAtMatrixCal(position, lookat, upVector);
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double fovYradians = fovy * (CV_PI / 180.0);
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TriangleRasterizeSettings settings;
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settings.setCullingMode(RASTERIZE_CULLING_CW)
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.setShadingType(shadingType)
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.setGlCompatibleMode(glCompatibleMode);
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Mat depth_buf, color_buf;
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while (next())
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{
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// Prefilled to measure pure rendering time w/o allocation and clear
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float zMax = (glCompatibleMode == RASTERIZE_COMPAT_INVDEPTH) ? 1.f : (float)zFar;
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depth_buf = Mat(height, width, CV_32F, zMax);
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color_buf = Mat(height, width, CV_32FC3, Scalar::all(0));
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startTimer();
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if (outputs == Outputs::ColorOnly)
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{
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cv::triangleRasterizeColor(vertices, indices, colors, color_buf, cameraPose,
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fovYradians, zNear, zFar, settings);
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}
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else if (outputs == Outputs::DepthOnly)
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{
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cv::triangleRasterizeDepth(vertices, indices, depth_buf, cameraPose,
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fovYradians, zNear, zFar, settings);
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}
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else // Outputs::DepthColor
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{
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cv::triangleRasterize(vertices, indices, colors, color_buf, depth_buf,
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cameraPose, fovYradians, zNear, zFar, settings);
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}
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stopTimer();
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}
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if (debugLevel > 0)
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{
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depth_buf.convertTo(depth_buf, CV_16U, 1000.0);
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std::string shadingName = printEnum(shadingType);
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std::string suffix = cv::format("%dx%d_%s", width, height, shadingName.c_str());
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imwrite("perf_color_image_" + suffix + ".png", color_buf * 255.f);
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imwrite("perf_depth_image_" + suffix + ".png", depth_buf);
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}
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SANITY_CHECK_NOTHING();
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}
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} // namespace
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