opencv/modules/3d/misc/python/test/test_rgbd.py
Rostislav Vasilikhin bae9cef0b5
Merge pull request from savuor:rgbd_to_3d
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
2021-08-22 13:18:45 +00:00

44 lines
1.9 KiB
Python

#!/usr/bin/env python
# Python 2/3 compatibility
from __future__ import print_function
import os, numpy
import unittest
import cv2 as cv
from tests_common import NewOpenCVTests
class rgbd_test(NewOpenCVTests):
def test_computeRgbdPlane(self):
depth_image = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)
if depth_image is None:
raise unittest.SkipTest("Missing files with test data")
K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])
points3d = cv.depthTo3d(depth_image, K)
normals = cv.RgbdNormals_create(480, 640, cv.CV_32F, K).apply(points3d)
_, planes_coeff = cv.findPlanes(points3d, normals, numpy.array([]), numpy.array([]), 40, 1600, 0.01, 0, 0, 0, cv.RGBD_PLANE_METHOD_DEFAULT)
planes_coeff_expected = \
numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182, 4.02800846]],
[[-0.05055107, -0.86144137, -0.50533485, 3.95456314]],
[[-0.03294908, -0.86964548, -0.49257591, 3.97052431]],
[[-0.02886586, -0.87153459, -0.48948362, 7.77550507]],
[[-0.04455929, -0.87659335, -0.47916424, 3.93200684]],
[[-0.21514639, 0.18835169, -0.95824611, 7.59479475]],
[[-0.01006953, -0.86679155, -0.49856904, 4.01355648]],
[[-0.00876531, -0.87571168, -0.48275498, 3.96768975]],
[[-0.06395926, -0.86951321, -0.48975089, 4.08618736]],
[[-0.01403128, -0.87593341, -0.48222789, 7.74559402]],
[[-0.01143177, -0.87495202, -0.4840748 , 7.75355816]]],
dtype=numpy.float32)
eps = 0.05
self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()