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Merge pull request #21741 from DumDereDum:odometry_prepareFrame_fix

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Odometry prepareFrame fix

* fix issue; add tests

* img fix

* mask fix

* minor fix
This commit is contained in:
Artem Saratovtsev
2022-04-05 00:14:31 +03:00
committed by GitHub
parent aa5055261f
commit 3d12581798
2 changed files with 71 additions and 3 deletions
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modules/3d/test/test_odometry.cpp
+61
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@@ -148,6 +148,7 @@ public:
void run();
void checkUMats();
void prepareFrameCheck();
OdometryType otype;
OdometryAlgoType algtype;
@@ -348,6 +349,41 @@ void OdometryTest::run()
}
}
void OdometryTest::prepareFrameCheck()
{
Mat K = getCameraMatrix();
Mat image, depth;
readData(image, depth);
OdometrySettings ods;
ods.setCameraMatrix(K);
Odometry odometry = Odometry(otype, ods, algtype);
OdometryFrame odf = odometry.createOdometryFrame();
odf.setImage(image);
odf.setDepth(depth);
odometry.prepareFrame(odf);
Mat points, mask;
odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
odf.getPyramidAt(mask, OdometryFramePyramidType::PYR_MASK, 0);
OdometryFrame todf = odometry.createOdometryFrame();
if (otype != OdometryType::DEPTH)
{
Mat img;
odf.getPyramidAt(img, OdometryFramePyramidType::PYR_IMAGE, 0);
todf.setPyramidLevel(1, OdometryFramePyramidType::PYR_IMAGE);
todf.setPyramidAt(img, OdometryFramePyramidType::PYR_IMAGE, 0);
}
todf.setPyramidLevel(1, OdometryFramePyramidType::PYR_CLOUD);
todf.setPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
todf.setPyramidLevel(1, OdometryFramePyramidType::PYR_MASK);
todf.setPyramidAt(mask, OdometryFramePyramidType::PYR_MASK, 0);
odometry.prepareFrame(todf);
}
/****************************************************************************************\
* Tests registrations *
\****************************************************************************************/
@@ -401,4 +437,29 @@ TEST(RGBD_Odometry_FastICP, UMats)
test.checkUMats();
}
TEST(RGBD_Odometry_Rgbd, prepareFrame)
{
OdometryTest test(OdometryType::RGB, OdometryAlgoType::COMMON, 0.99, 0.89);
test.prepareFrameCheck();
}
TEST(RGBD_Odometry_ICP, prepareFrame)
{
OdometryTest test(OdometryType::DEPTH, OdometryAlgoType::COMMON, 0.99, 0.99);
test.prepareFrameCheck();
}
TEST(RGBD_Odometry_RgbdICP, prepareFrame)
{
OdometryTest test(OdometryType::RGB_DEPTH, OdometryAlgoType::COMMON, 0.99, 0.99);
test.prepareFrameCheck();
}
TEST(RGBD_Odometry_FastICP, prepareFrame)
{
OdometryTest test(OdometryType::DEPTH, OdometryAlgoType::FAST, 0.99, 0.89, FLT_EPSILON);
test.prepareFrameCheck();
}
}} // namespace