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Merge pull request #25221 from savuor:rv/bench_3d

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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
This commit is contained in:
Rostislav Vasilikhin
2024-04-04 10:04:52 +02:00
committed by GitHub
parent 65074651a4
commit 82038be4cd
12 changed files with 632 additions and 188 deletions
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modules/3d/test/test_rendering.cpp
+17 -17
View File
@@ -649,19 +649,19 @@ TEST_P(RenderingTest, floatParams)
thr.depthInfThreshold = 1;
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CCW)
{
thr.rgbInfThreshold = 0.000157;
thr.rgbL2Threshold = 6e-09;
thr.depthL2Threshold = 0.000413;
thr.rgbInfThreshold = 0.000229;
thr.rgbL2Threshold = 6.37e-09;
thr.depthL2Threshold = 0.000427;
}
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
{
thr.rgbInfThreshold = 0.000303;
thr.rgbL2Threshold = 1.9e-09;
thr.depthL2Threshold = 0.00012;
thr.rgbInfThreshold = 0.000277;
thr.rgbL2Threshold = 1.8e-09;
thr.depthL2Threshold = 0.000124;
}
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
{
thr.depthL2Threshold = 0.00012;
thr.depthL2Threshold = 0.000124;
}
break;
case ModelType::Centered:
@@ -803,27 +803,27 @@ TEST_P(RenderingTest, accuracy)
case ModelType::File:
if (width == 320 && height == 240 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CCW)
{
thr.rgbInfThreshold = 0.93;
thr.rgbL2Threshold = 2.45E-05;
thr.depthMaskThreshold = 2;
thr.rgbInfThreshold = 0.836;
thr.rgbL2Threshold = 2.08e-05;
thr.depthMaskThreshold = 1;
thr.depthInfThreshold = 99;
thr.depthL2Threshold = 0.00544;
}
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_SHADED && cullingMode == RASTERIZE_CULLING_CW)
{
thr.rgbInfThreshold = 0.973;
thr.rgbL2Threshold = 4.46E-06;
thr.depthMaskThreshold = 3;
thr.rgbL2Threshold = 5.2e-06;
thr.depthMaskThreshold = 4;
thr.depthInfThreshold = 258;
thr.depthL2Threshold = 0.00142;
thr.depthL2Threshold = 0.00228;
}
else if (width == 700 && height == 700 && shadingType == RASTERIZE_SHADING_WHITE && cullingMode == RASTERIZE_CULLING_NONE)
{
thr.rgbInfThreshold = 1;
thr.rgbL2Threshold = 6.13E-06;
thr.depthMaskThreshold = 3;
thr.rgbL2Threshold = 7.07e-06;
thr.depthMaskThreshold = 4;
thr.depthInfThreshold = 258;
thr.depthL2Threshold = 0.00142;
thr.depthL2Threshold = 0.00228;
}
break;
default:
@@ -914,7 +914,7 @@ TEST_P(RenderingTest, glCompatibleDepth)
}
double normL2Diff = cv::norm(depth_buf, convertedDepth, cv::NORM_L2) / (height * width);
const double normL2Threshold = 1.e-9;
const double normL2Threshold = 5.53e-10;
EXPECT_LE(normL2Diff, normL2Threshold);
// add --test_debug to output differences
if (debugLevel > 0)