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depthTo3d: fixed bug, added regression test

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RgbdNormals: setMethod() removed as useless

RgbdNormals: tests + cross product, to be fixed

+ cross product

LINEMOD: diffThreshold param added + tests fixed

minor

diffThreshold fix

points3dToDepth16U fix

normals computer diffThreshold fix

random plane generation fixed + diffThreshold fix

Rendered normals test rewritten to GTest Params

random plane generation: scale

RGBD_Normals tests: thresholds tuned

Rendered normals tests: 64F support added

Random planes normal tests rewritten to GTest Params

LINEMOD and CrossProduct fix

SRI threshold raised

NormalsRandomPlanes: thresholds raised

assert on unknown alg; minor

fix

frame size reduced

TIFF replaced by YAML.GZ

depthTo3d test changed

cv::transform is used

fix warning

nanMask()

flipAxes()

absDotPixel() + forgotten code

helper functions removed

RGBDNormals: checkNormals() and compare LINEMOD's pts3d to depth input

Rendered: another criteria; thresholds; LINEMOD's pts3d to depth input comparison

thresholds raised a bit

SRI slightly optimized

assert change

normal tests refactored, parametrized, split

trailing namespace, thresholds raised

SRI caching optimized a lot

normal tests rewritten to fixture, no loop

minor

runCase() joined with testIt()

thresholds were put into GTest params

ternary operator

RgbdNormalsTest merged into NormalsRandomPlanes; RgbdPlanes moved closer to tests

normal test minor refactoring

plane finder tests refactored to GTest Params

skip tests

thresholds raised

plane test minor

plane tests: timers dropped, nPlanes put into GTest Params; refactoring

generated normals tests: minor refactoring

flipAxes() templated

rendered normals tests refactored: thresholds to GTest Params

CV_Error -> ASSERT_FALSE
This commit is contained in:
Rostislav Vasilikhin
2022-07-13 16:12:44 +02:00
parent 99d216c8d4
commit 48c10620cb
5 changed files with 781 additions and 357 deletions
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modules/3d/test/test_odometry.cpp
+27
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@@ -627,4 +627,31 @@ TEST(RGBD_Odometry_WarpFrame, bigScale)
ASSERT_LE(lidiff, 0.99951172);
}
TEST(RGBD_DepthTo3D, mask)
{
std::string dataPath = cvtest::TS::ptr()->get_data_path();
std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png";
Mat srcDepth = imread(srcDepthFilename, IMREAD_UNCHANGED);
ASSERT_FALSE(srcDepth.empty()) << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
ASSERT_TRUE(srcDepth.type() == CV_16UC1);
Mat srcMask = srcDepth > 0;
// test data used to generate warped depth and rgb
// the script used to generate is in opencv_extra repo
// at testdata/cv/rgbd/warped_depth_generator/warp_test.py
double fx = 525.0, fy = 525.0,
cx = 319.5, cy = 239.5;
Matx33d intr(fx, 0, cx,
0, fy, cy,
0, 0, 1);
Mat srcCloud;
depthTo3d(srcDepth, intr, srcCloud, srcMask);
size_t npts = countNonZero(srcMask);
ASSERT_EQ(npts, srcCloud.total());
}
}} // namespace