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OBJ and PLY loaders extention to support texture coordinates and difused colors #25221 ### This PR changes * Texture coordinates support added to `loadMesh()` and `saveMesh()` * `loadMesh()` changes its behavior: all vertex attribute arrays (vertex coordinates, colors, normals, texture coordinates) now have the same size and same-index corresponce - This makes sense for OBJ files where vertex attribute arrays are independent from each other and are randomly accessed when defining faces - Looks like this behavior may also happen in some PLY files; however, it is not implemented until we encounter such files in a wild nature - At the same time `loadPointCloud()` keeps its behavior and loads vertex attributes as they are given in the file * PLY loader supports synonyms for the properties: `diffuse_red`, `diffuse_green` and `diffuse_blue` along with `red`, `green` and `blue` * `std::vector<cv::Vec3i>` supported as an index array type * Colors are loaded as [0, 1] floats instead of uchars - Since colors are usually saved as floats, internal conversion to uchar at loading significantly drops accuracy - Performing uchar conversion does not always makes sense and can be performed by a user if they needs it * PLY loading fixed: wrong offset ruined x coordinate * Python tests added for `loadPointCloud` and `loadMesh` ### 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
223 lines
7.0 KiB
C++
223 lines
7.0 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 <opencv2/core.hpp>
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#include <vector>
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#include <cstdio>
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#include "test_precomp.hpp"
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#include "opencv2/ts.hpp"
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namespace opencv_test { namespace {
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TEST(PointCloud, LoadPointCloudObj)
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{
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std::vector<cv::Point3f> points_gold = {
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{-5.93915f, -0.13257f, 2.55837f},
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{-5.93915f, 1.86743f, 2.55837f},
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{-5.93915f, -0.13257f, -1.16339f},
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{-5.93915f, 1.86743f, -1.16339f},
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{0.399941f, -0.13257f, 2.55837f},
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{0.399941f, 1.86743f, 2.55837f},
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{0.399941f, -0.13257f, -1.16339f},
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{0.399941f, 1.86743f, -1.16339f}
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};
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std::vector<cv::Point3f> normals_gold = {
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{-1.0000f, 0.0000f, 0.0000f},
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{ 0.0000f, 0.0000f, -1.0000f},
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{ 1.0000f, 0.0000f, 0.0000f},
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{ 0.0000f, 0.0000f, 1.0000f},
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{ 0.0000f, -1.0000f, 0.0000f},
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{ 0.0000f, 1.0000f, 0.0000f}
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};
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std::vector<cv::Point3f> rgb_gold = {
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{0.0756f, 0.5651f, 0.5829f},
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{0.8596f, 0.1105f, 0.8455f},
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{0.8534f, 0.6143f, 0.3950f},
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{0.0438f, 0.6308f, 0.3065f},
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{0.9716f, 0.7170f, 0.8378f},
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{0.2472f, 0.7701f, 0.0234f},
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{0.6472f, 0.7467f, 0.5981f},
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{0.3502f, 0.7954f, 0.0443f}
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};
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std::vector<cv::Point3f> points, normals, rgb;
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auto folder = cvtest::TS::ptr()->get_data_path();
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cv::loadPointCloud(folder + "pointcloudio/orig.obj", points, normals, rgb);
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EXPECT_EQ(points_gold, points);
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EXPECT_EQ(rgb_gold, rgb);
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EXPECT_EQ(normals_gold, normals);
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}
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TEST(PointCloud, LoadObjNoNormals)
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{
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std::vector<cv::Point3f> points_gold = {
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{-5.93915f, -0.13257f, 2.55837f},
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{-5.93915f, 1.86743f, 2.55837f},
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{-5.93915f, -0.13257f, -1.16339f},
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{-5.93915f, 1.86743f, -1.16339f},
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{0.399941f, -0.13257f, 2.55837f},
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{0.399941f, 1.86743f, 2.55837f},
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{0.399941f, -0.13257f, -1.16339f},
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{0.399941f, 1.86743f, -1.16339f}};
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std::vector<cv::Point3f> points, normals;
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auto folder = cvtest::TS::ptr()->get_data_path();
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cv::loadPointCloud(folder + "pointcloudio/orig_no_norms.obj", points, normals);
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EXPECT_EQ(points_gold, points);
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EXPECT_TRUE(normals.empty());
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}
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TEST(PointCloud, SaveObj)
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{
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std::vector<cv::Point3f> points_gold, normals_gold, rgb_gold;
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auto folder = cvtest::TS::ptr()->get_data_path();
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auto new_path = tempfile("new.obj");
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cv::loadPointCloud(folder + "pointcloudio/orig.obj", points_gold, normals_gold, rgb_gold);
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cv::savePointCloud(new_path, points_gold, normals_gold, rgb_gold);
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std::vector<cv::Point3f> points, normals, rgb;
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cv::loadPointCloud(new_path, points, normals, rgb);
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EXPECT_EQ(normals, normals_gold);
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EXPECT_EQ(points, points_gold);
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EXPECT_EQ(rgb, rgb_gold);
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std::remove(new_path.c_str());
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}
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TEST(PointCloud, LoadSavePly)
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{
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std::vector<cv::Point3f> points, normals, rgb;
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auto folder = cvtest::TS::ptr()->get_data_path();
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std::string new_path = tempfile("new.ply");
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cv::loadPointCloud(folder + "pointcloudio/orig.ply", points, normals, rgb);
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cv::savePointCloud(new_path, points, normals, rgb);
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std::vector<cv::Point3f> points_gold, normals_gold, rgb_gold;
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cv::loadPointCloud(new_path, points_gold, normals_gold, rgb_gold);
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EXPECT_EQ(normals_gold, normals);
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EXPECT_EQ(points_gold, points);
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EXPECT_EQ(rgb_gold, rgb);
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std::remove(new_path.c_str());
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}
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TEST(PointCloud, LoadSaveMeshObj)
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{
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std::vector<cv::Point3f> points, normals, colors;
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std::vector<cv::Point2f> texCoords;
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std::vector<std::vector<int32_t>> indices;
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auto folder = cvtest::TS::ptr()->get_data_path();
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std::string new_path = tempfile("new_mesh.obj");
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cv::loadMesh(folder + "pointcloudio/orig.obj", points, indices, normals, colors, texCoords);
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EXPECT_FALSE(points.empty());
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EXPECT_FALSE(indices.empty());
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EXPECT_FALSE(normals.empty());
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EXPECT_FALSE(colors.empty());
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EXPECT_FALSE(texCoords.empty());
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cv::saveMesh(new_path, points, indices, normals, colors, texCoords);
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std::vector<cv::Point3f> points_gold, normals_gold, colors_gold;
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std::vector<cv::Point2f> texCoords_gold;
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std::vector<std::vector<int32_t>> indices_gold;
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cv::loadMesh(new_path, points_gold, indices_gold, normals_gold, colors_gold, texCoords_gold);
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EXPECT_FALSE(points_gold.empty());
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EXPECT_FALSE(indices_gold.empty());
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EXPECT_FALSE(normals_gold.empty());
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EXPECT_FALSE(colors_gold.empty());
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EXPECT_FALSE(texCoords_gold.empty());
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EXPECT_EQ(normals_gold, normals);
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EXPECT_EQ(points_gold, points);
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EXPECT_EQ(indices_gold, indices);
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EXPECT_TRUE(!indices.empty());
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std::remove(new_path.c_str());
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}
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typedef std::string PlyTestParamsType;
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typedef testing::TestWithParam<PlyTestParamsType> PlyTest;
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TEST_P(PlyTest, LoadSaveMesh)
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{
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std::string fname = GetParam();
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std::vector<cv::Point3f> points_gold, normals_gold, colors_gold;
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std::vector<cv::Vec3i> indices_gold;
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auto folder = cvtest::TS::ptr()->get_data_path();
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std::string new_path = tempfile("new_mesh.ply");
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cv::loadMesh(folder + fname, points_gold, indices_gold, normals_gold, colors_gold);
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EXPECT_FALSE(points_gold.empty());
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EXPECT_FALSE(indices_gold.empty());
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cv::saveMesh(new_path, points_gold, indices_gold, normals_gold, colors_gold);
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std::vector<cv::Point3f> points, normals, colors;
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std::vector<cv::Vec3i> indices;
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cv::loadMesh(new_path, points, indices, normals, colors);
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if (!normals.empty())
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{
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EXPECT_LE(cv::norm(normals_gold, normals, NORM_INF), 0);
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}
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EXPECT_LE(cv::norm(points_gold, points, NORM_INF), 0);
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EXPECT_LE(cv::norm(colors_gold, colors, NORM_INF), 0);
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EXPECT_EQ(indices_gold, indices);
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std::remove(new_path.c_str());
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}
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INSTANTIATE_TEST_CASE_P(PointCloud, PlyTest,
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::testing::Values("pointcloudio/orig.ply", "pointcloudio/orig_ascii_fidx.ply", "pointcloudio/orig_bin_fidx.ply",
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"pointcloudio/orig_ascii_vidx.ply", "pointcloudio/orig_bin.ply", "viz/dragon.ply"));
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TEST(PointCloud, NonexistentFile)
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{
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std::vector<cv::Point3f> points;
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std::vector<cv::Point3f> normals;
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auto folder = cvtest::TS::ptr()->get_data_path();
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cv::loadPointCloud(folder + "pointcloudio/fake.obj", points, normals);
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EXPECT_TRUE(points.empty());
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EXPECT_TRUE(normals.empty());
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}
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TEST(PointCloud, LoadBadExtension)
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{
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std::vector<cv::Point3f> points;
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std::vector<cv::Point3f> normals;
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auto folder = cvtest::TS::ptr()->get_data_path();
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cv::loadPointCloud(folder + "pointcloudio/fake.fake", points, normals);
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EXPECT_TRUE(points.empty());
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EXPECT_TRUE(normals.empty());
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}
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TEST(PointCloud, SaveBadExtension)
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{
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std::vector<cv::Point3f> points;
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std::vector<cv::Point3f> normals;
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auto folder = cvtest::TS::ptr()->get_data_path();
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cv::savePointCloud(folder + "pointcloudio/fake.fake", points, normals);
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}
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}} /* namespace opencv_test */
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