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bae9cef0b5
Moving RGBD parts to 3d * files moved from rgbd module in contrib repo * header paths fixed * perf file added * lapack compilation fixed * Rodrigues fixed in tests * rgbd namespace removed * headers fixed * initial: rgbd files moved to 3d module * rgbd updated from latest contrib master; less file duplication * "std::" for sin(), cos(), etc. * KinFu family -> back to contrib * paths & namespaces * removed duplicates, file version updated * namespace kinfu removed from 3d module * forgot to move test_colored_kinfu.cpp to contrib * tests fixed: Params removed * kinfu namespace removed * it works without objc bindings * include headers fixed * tests: data paths fixed * headers moved to/from public API * Intr -> Matx33f in public API * from kinfu_frame.hpp to utils.hpp * submap: Intr -> Matx33f, HashTSDFVolume -> Volume; no extra headers * no RgbdFrame class, no Mat fields & arg -> InputArray & pImpl * get/setPyramidAt() instead of lots of methods * Mat -> InputArray, TMat * prepareFrameCache: refactored * FastICPOdometry: +truncate threshold, +depthFactor; Mat/UMat choose * Mat/UMat choose * minor stuff related to headers * (un)signed int warnings; compilation minor issues * minors: submap: pyramids -> OdometryFrame; tests fix; FastICP minor; CV_EXPORTS_W for kinfu_frame.hpp * FastICPOdometry: caching, rgbCameraMatrix * OdometryFrame: pyramid%s% -> pyramids[] * drop: rgbCameraMatrix from FastICP, RGB cache mode, makeColoredFrameFrom depth and all color-functions it calls * makeFrameFromDepth, buildPyramidPointsNormals -> from public to internal utils.hpp * minors * FastICPOdometry: caching updated, init fields * OdometryFrameImpl<UMat> fixed * matrix building fixed; minors * returning linemode back to contrib * params.pose is Mat now * precomp headers reorganized * minor fixes, header paths, extra header removed * minors: intrinsics -> utils.hpp; whitespaces; empty namespace; warning fixed * moving declarations from/to headers * internal headers reorganized (once again) * fix include * extra var fix * fix include, fix (un)singed warning * calibration.cpp: reverting back * headers fix * workaround to fix bindings * temporary removed wrappers * VolumeType -> VolumeParams * (temporarily) removing wrappers for Volume and VolumeParams * pyopencv_linemod -> contrib * try to fix test_rgbd.py * headers fixed * fixing wrappers for rgbd * fixing docs * fixing rgbdPlane * RgbdNormals wrapped * wrap Volume and VolumeParams, VolumeType from enum to int * DepthCleaner wrapped * header folder "rgbd" -> "3d" * fixing header path * VolumeParams referenced by Ptr to support Python wrappers * render...() fixed * Ptr<VolumeParams> fixed * makeVolume(... resolution -> [X, Y, Z]) * fixing static declaration * try to fix ios objc bindings * OdometryFrame::release...() removed * fix for Odometry algos not supporting UMats: prepareFrameCache<>() * preparePyramidMask(): fix to compile with TMat = UMat * fixing debug guards * removing references back; adding makeOdometryFrame() instead * fixing OpenCL ICP hanging (some threads exit before reaching the barrier -> the rest threads hang) * try to fix objc wrapper warnings; rerun builders * VolumeType -> VolumeKind * try to fix OCL bug * prints removed * indentation fixed * headers fixed * license fix * WillowGarage licence notion removed, since it's in OpenCV's COPYRIGHT already * KinFu license notion shortened * debugging code removed * include guards fixed * KinFu license left in contrib module * isValidDepth() moved to private header * indentation fix * indentation fix in src files * RgbdNormals rewritten to pImpl * minor * DepthCleaner removed due to low code quality, no depthScale provided, no depth images found to be successfully filtered; can be replaced by bilateral filtering * minors, indentation * no "private" in public headers * depthTo3d test moved from separate file * Normals: setDepth() is useless, removing it * RgbdPlane => findPlanes() * rescaleDepth(): minor * warpFrame: minor * minor TODO * all Odometries (except base abstract class) rewritten to pImpl * FastICPOdometry now supports maxRotation and maxTranslation * minor * Odometry's children: now checks are done in setters * get rid of protected members in Odometry class * get/set cameraMatrix, transformType, maxRot/Trans, iters, minGradients -> OdometryImpl * cameraMatrix: from double to float * matrix exponentiation: Eigen -> dual quaternions * Odometry evaluation fixed to reuse existing code * "small" macro fixed by undef * pixNorm is calculated on CPU only now (and then uploads on GPU) * test registration: no cvtest classes * test RgbdNormals and findPlanes(): no cvtest classes * test_rgbd.py: minor fix * tests for Odometry: no cvtest classes; UMat tests; logging fixed * more CV_OVERRIDE to overriden functions * fixing nondependent names to dependent * more to prev commit * forgotten fixes: overriden functions, (non)dependent names * FastICPOdometry: fix UMat support when OpenCL is off * try to fix compilation: missing namespaces * Odometry: static const-mimicking functions to internal constants * forgotten change to prev commit * more forgotten fixes * do not expose "submap.hpp" by default * in-class enums: give names, CamelCase, int=>enums; minors * namespaces, underscores, String * std::map is used by pose graph, adding it * compute()'s signature fixed, computeImpl()'s too * RgbdNormals: Mat -> InputArray * depth.hpp: Mat -> InputArray * cameraMatrix: Matx33f -> InputArray + default value + checks * "details" headers are not visible by default * TSDF tests: rearranging checks * cameraMatrix: no (realistic) default value * renderPointsNormals*(): no wrappers for them * debug: assert on empty frame in TSDF tests * debugging code for TSDF GPU * debug from integrate to raycast * no (non-zero) default camera matrix anymore * drop debugging code (does not help) * try to fix TSDF GPU: constant -> global const ptr
44 lines
1.9 KiB
Python
44 lines
1.9 KiB
Python
#!/usr/bin/env python
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# Python 2/3 compatibility
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from __future__ import print_function
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import os, numpy
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import unittest
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class rgbd_test(NewOpenCVTests):
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def test_computeRgbdPlane(self):
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depth_image = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)
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if depth_image is None:
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raise unittest.SkipTest("Missing files with test data")
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K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])
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points3d = cv.depthTo3d(depth_image, K)
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normals = cv.RgbdNormals_create(480, 640, cv.CV_32F, K).apply(points3d)
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_, planes_coeff = cv.findPlanes(points3d, normals, numpy.array([]), numpy.array([]), 40, 1600, 0.01, 0, 0, 0, cv.RGBD_PLANE_METHOD_DEFAULT)
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planes_coeff_expected = \
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numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182, 4.02800846]],
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[[-0.05055107, -0.86144137, -0.50533485, 3.95456314]],
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[[-0.03294908, -0.86964548, -0.49257591, 3.97052431]],
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[[-0.02886586, -0.87153459, -0.48948362, 7.77550507]],
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[[-0.04455929, -0.87659335, -0.47916424, 3.93200684]],
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[[-0.21514639, 0.18835169, -0.95824611, 7.59479475]],
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[[-0.01006953, -0.86679155, -0.49856904, 4.01355648]],
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[[-0.00876531, -0.87571168, -0.48275498, 3.96768975]],
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[[-0.06395926, -0.86951321, -0.48975089, 4.08618736]],
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[[-0.01403128, -0.87593341, -0.48222789, 7.74559402]],
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[[-0.01143177, -0.87495202, -0.4840748 , 7.75355816]]],
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dtype=numpy.float32)
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eps = 0.05
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self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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