mirror of
https://github.com/opencv/opencv.git
synced 2024-12-16 02:19:12 +08:00
8b7e586faa
Complement PR: #3366@contrib
Changes
OdometryFrame losts its getters: a user can provide data at construction stage only, pyramids and other generated data is read-only now
OdometryFrame is based on UMats: no TMat templates inside, CPU operations are done with UMat::getMat() method, chaining issues are solved ad-hoc
No more Odometry::createOdometryFrame() method, frames are compatible with all odometry algorithms
Normals computer is cached inside Odometry and exposed to API as well as its settings
Volume::raycast() won't return the result in OdometryFrame anymore
Added test for Odometry::prepareFrame*() & other test fixes
Minor code improvements
TODOs:
fix TODOs in code
lower acceptable accuracy errors
678 lines
20 KiB
C++
678 lines
20 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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#include "opencv2/ts/ocl_test.hpp"
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#ifdef HAVE_OPENCL
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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 = 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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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 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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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 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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inline Point3f normalize(const Vec3f& v)
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{
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double nv = sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
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return v * (nv ? 1. / nv : 0.);
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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_<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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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 (cvIsNaN(p.x) || cvIsNaN(p.y) || cvIsNaN(p.z))
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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 = normalize(lightPose.translation() - Vec3f(p));
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Point3f v = normalize(-Vec3f(p));
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Point3f r = 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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// ----------------------------
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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 normalsCheck(Mat normals)
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{
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Vec4f vector;
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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]))
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{
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float length = 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 - length), 0.0001f) << "There is normal with length != 1";
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}
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}
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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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void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction testFunction, VolumeTestSrcType testSrcType)
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{
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VolumeSettings vs(volumeType);
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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bool onlySemisphere = true;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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Mat depth = scene->depth(poses[0]);
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UMat udepth;
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depth.copyTo(udepth);
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UMat upoints, unormals, utmpnormals;
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Mat points, normals;
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AccessFlag af = ACCESS_READ;
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OdometryFrame odf(noArray(), udepth);
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if (testSrcType == VolumeTestSrcType::MAT)
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volume.integrate(depth, poses[0].matrix);
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else
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volume.integrate(odf, poses[0].matrix);
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if (testFunction == VolumeTestFunction::RAYCAST)
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{
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, unormals);
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}
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else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
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{
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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// takes only point from raycast for checking fetched normals on the display
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, utmpnormals);
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// volume.fetchPointsNormals(upoints, utmpnormals);
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volume.fetchNormals(upoints, unormals);
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}
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}
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else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS)
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{
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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volume.fetchPointsNormals(upoints, unormals);
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}
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}
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normals = unormals.getMat(af);
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points = upoints.getMat(af);
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if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0)
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displayImage(depth, points, normals, depthFactor, lightPose);
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normalsCheck(normals);
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}
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void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction testFunction, VolumeTestSrcType testSrcType)
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{
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VolumeSettings vs(volumeType);
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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bool onlySemisphere = true;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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Mat depth = scene->depth(poses[0]);
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UMat udepth;
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depth.copyTo(udepth);
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UMat upoints, unormals, utmpnormals;
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Mat points, normals;
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AccessFlag af = ACCESS_READ;
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OdometryFrame odf(noArray(), udepth);
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if (testSrcType == VolumeTestSrcType::MAT)
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volume.integrate(depth, poses[0].matrix);
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else
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volume.integrate(odf, poses[0].matrix);
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if (testFunction == VolumeTestFunction::RAYCAST)
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{
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volume.raycast(poses[0].matrix, upoints, unormals);
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}
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else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
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{
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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// takes only point from raycast for checking fetched normals on the display
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volume.raycast(poses[0].matrix, upoints, utmpnormals);
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//volume.fetchPointsNormals(upoints, utmpnormals);
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volume.fetchNormals(upoints, unormals);
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}
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}
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else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS)
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{
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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volume.fetchPointsNormals(upoints, unormals);
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}
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}
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normals = unormals.getMat(af);
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points = upoints.getMat(af);
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if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0)
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displayImage(depth, points, normals, depthFactor, lightPose);
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normalsCheck(normals);
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}
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void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType testSrcType)
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{
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VolumeSettings vs(volumeType);
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Volume volume(volumeType, vs);
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Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
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Matx33f intr;
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vs.getCameraIntegrateIntrinsics(intr);
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bool onlySemisphere = true;
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float depthFactor = vs.getDepthFactor();
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Vec3f lightPose = Vec3f::all(0.f);
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Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
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std::vector<Affine3f> poses = scene->getPoses();
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Mat depth = scene->depth(poses[0]);
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UMat udepth;
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depth.copyTo(udepth);
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UMat upoints, unormals;
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UMat upoints1, unormals1;
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Mat points, normals;
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AccessFlag af = ACCESS_READ;
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int anfas, profile;
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OdometryFrame odf(noArray(), udepth);
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if (testSrcType == VolumeTestSrcType::MAT)
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volume.integrate(depth, poses[0].matrix);
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else
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volume.integrate(odf, poses[0].matrix);
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, upoints, unormals);
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normals = unormals.getMat(af);
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points = upoints.getMat(af);
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patchNaNs(points);
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anfas = counterOfValid(points);
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if (cvtest::debugLevel > 0)
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displayImage(depth, points, normals, depthFactor, lightPose);
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, upoints1, unormals1);
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normals = unormals1.getMat(af);
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points = upoints1.getMat(af);
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patchNaNs(points);
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profile = counterOfValid(points);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
displayImage(depth, points, normals, depthFactor, lightPose);
|
|
|
|
// TODO: why profile == 2*anfas ?
|
|
float percentValidity = float(anfas) / float(profile);
|
|
|
|
ASSERT_NE(profile, 0) << "There is no points in profile";
|
|
ASSERT_NE(anfas, 0) << "There is no points in anfas";
|
|
ASSERT_LT(abs(0.5 - percentValidity), 0.3) << "percentValidity out of [0.3; 0.7] (percentValidity=" << percentValidity << ")";
|
|
}
|
|
|
|
void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType testSrcType)
|
|
{
|
|
VolumeSettings vs(volumeType);
|
|
Volume volume(volumeType, vs);
|
|
|
|
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
|
Matx33f intr;
|
|
vs.getCameraIntegrateIntrinsics(intr);
|
|
bool onlySemisphere = true;
|
|
float depthFactor = vs.getDepthFactor();
|
|
Vec3f lightPose = Vec3f::all(0.f);
|
|
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
|
|
std::vector<Affine3f> poses = scene->getPoses();
|
|
|
|
Mat depth = scene->depth(poses[0]);
|
|
UMat udepth;
|
|
depth.copyTo(udepth);
|
|
UMat upoints, unormals;
|
|
UMat upoints1, unormals1;
|
|
Mat points, normals;
|
|
AccessFlag af = ACCESS_READ;
|
|
int anfas, profile;
|
|
|
|
OdometryFrame odf(noArray(), udepth);
|
|
|
|
if (testSrcType == VolumeTestSrcType::MAT)
|
|
volume.integrate(depth, poses[0].matrix);
|
|
else
|
|
volume.integrate(odf, poses[0].matrix);
|
|
|
|
volume.raycast(poses[0].matrix, upoints, unormals);
|
|
|
|
normals = unormals.getMat(af);
|
|
points = upoints.getMat(af);
|
|
patchNaNs(points);
|
|
anfas = counterOfValid(points);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
displayImage(depth, points, normals, depthFactor, lightPose);
|
|
|
|
volume.raycast(poses[17].matrix, upoints1, unormals1);
|
|
|
|
normals = unormals1.getMat(af);
|
|
points = upoints1.getMat(af);
|
|
patchNaNs(points);
|
|
profile = counterOfValid(points);
|
|
|
|
if (cvtest::debugLevel > 0)
|
|
displayImage(depth, points, normals, depthFactor, lightPose);
|
|
|
|
// TODO: why profile == 2*anfas ?
|
|
float percentValidity = float(anfas) / float(profile);
|
|
|
|
ASSERT_NE(profile, 0) << "There is no points in profile";
|
|
ASSERT_NE(anfas, 0) << "There is no points in anfas";
|
|
ASSERT_LT(abs(0.5 - percentValidity), 0.3) << "percentValidity out of [0.3; 0.7] (percentValidity=" << percentValidity << ")";
|
|
}
|
|
|
|
TEST(TSDF_GPU, raycast_custom_framesize_normals_mat)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, raycast_custom_framesize_normals_frame)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(TSDF_GPU, raycast_common_framesize_normals_mat)
|
|
{
|
|
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, raycast_common_framesize_normals_frame)
|
|
{
|
|
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(TSDF_GPU, fetch_points_normals)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, fetch_normals)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, valid_points_custom_framesize_mat)
|
|
{
|
|
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, valid_points_custom_framesize_frame)
|
|
{
|
|
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(TSDF_GPU, valid_points_common_framesize_mat)
|
|
{
|
|
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(TSDF_GPU, valid_points_common_framesize_frame)
|
|
{
|
|
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, raycast_custom_framesize_normals_mat)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, raycast_custom_framesize_normals_frame)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, raycast_common_framesize_normals_mat)
|
|
{
|
|
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, raycast_common_framesize_normals_frame)
|
|
{
|
|
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, fetch_points_normals)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, fetch_normals)
|
|
{
|
|
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, valid_points_custom_framesize_mat)
|
|
{
|
|
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, valid_points_custom_framesize_frame)
|
|
{
|
|
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, valid_points_common_framesize_mat)
|
|
{
|
|
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
|
}
|
|
|
|
TEST(HashTSDF_GPU, valid_points_common_framesize_frame)
|
|
{
|
|
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
|
}
|
|
|
|
}
|
|
} // namespace
|
|
|
|
#endif
|