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Merge pull request #22598 from savuor:icp_oframe_readonly

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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
This commit is contained in:
Rostislav Vasilikhin
2022-10-24 15:34:01 +02:00
committed by GitHub
parent 8358efaca1
commit 8b7e586faa
24 changed files with 994 additions and 1857 deletions
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modules/3d/misc/python/test/test_odometry.py
+18 -74
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@@ -6,8 +6,10 @@ import cv2 as cv
from tests_common import NewOpenCVTests
class odometry_test(NewOpenCVTests):
def test_OdometryDefault(self):
def commonOdometryTest(self, needRgb, otype):
depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
if needRgb:
rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
radian = np.radians(1)
Rt_warp = np.array(
[[np.cos(radian), -np.sin(radian), 0],
@@ -22,91 +24,33 @@ class odometry_test(NewOpenCVTests):
)
Rt_res = np.zeros((4, 4))
odometry = cv.Odometry()
if otype is not None:
odometry = cv.Odometry(otype)
else:
odometry = cv.Odometry()
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
if needRgb:
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
else:
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
def test_OdometryDefault(self):
self.commonOdometryTest(False, None)
def test_OdometryDepth(self):
depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
radian = np.radians(1)
Rt_warp = np.array(
[[np.cos(radian), -np.sin(radian), 0],
[np.sin(radian), np.cos(radian), 0],
[0, 0, 1]], dtype=np.float32
)
Rt_curr = np.array(
[[np.cos(radian), -np.sin(radian), 0, 0],
[np.sin(radian), np.cos(radian), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], dtype=np.float32
)
Rt_res = np.zeros((4, 4))
odometry = cv.Odometry(cv.DEPTH)
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
self.commonOdometryTest(False, cv.DEPTH)
def test_OdometryRGB(self):
rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
radian = np.radians(1)
Rt_warp = np.array(
[[np.cos(radian), -np.sin(radian), 0],
[np.sin(radian), np.cos(radian), 0],
[0, 0, 1]], dtype=np.float32
)
Rt_curr = np.array(
[[np.cos(radian), -np.sin(radian), 0, 0],
[np.sin(radian), np.cos(radian), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], dtype=np.float32
)
Rt_res = np.zeros((4, 4))
odometry = cv.Odometry(cv.RGB)
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(rgb, warped_rgb, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
self.commonOdometryTest(True, cv.RGB)
def test_OdometryRGB_Depth(self):
depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
radian = np.radians(1)
Rt_warp = np.array(
[[np.cos(radian), -np.sin(radian), 0],
[np.sin(radian), np.cos(radian), 0],
[0, 0, 1]], dtype=np.float32
)
Rt_curr = np.array(
[[np.cos(radian), -np.sin(radian), 0, 0],
[np.sin(radian), np.cos(radian), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], dtype=np.float32
)
Rt_res = np.zeros((4, 4))
odometry = cv.Odometry(cv.RGB_DEPTH)
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
self.commonOdometryTest(True, cv.RGB_DEPTH)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()