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Merge pull request #22598 from savuor:icp_oframe_readonly
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
committed by
GitHub
GitHub
parent
8358efaca1
commit
8b7e586faa
+28
-102
@@ -489,9 +489,7 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
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Mat rgb = scene->rgb(poses[0]);
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Mat points, normals, tmpnormals, colors;
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OdometryFrame odf;
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odf.setDepth(depth);
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odf.setImage(rgb);
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OdometryFrame odf(rgb, depth);
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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@@ -507,21 +505,10 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
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if (testFunction == VolumeTestFunction::RAYCAST)
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{
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
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}
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else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
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{
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@@ -568,9 +555,7 @@ void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction test
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Mat rgb = scene->rgb(poses[0]);
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Mat points, normals, tmpnormals, colors;
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OdometryFrame odf;
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odf.setDepth(depth);
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odf.setImage(rgb);
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OdometryFrame odf(rgb, depth);
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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@@ -586,21 +571,10 @@ void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction test
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if (testFunction == VolumeTestFunction::RAYCAST)
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{
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[0].matrix, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, points, normals);
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}
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else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
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{
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@@ -648,9 +622,7 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
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Mat points, normals, colors, newPoints, newNormals;
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int anfas, profile;
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OdometryFrame odf;
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odf.setDepth(depth);
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odf.setImage(rgb);
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OdometryFrame odf(rgb, depth);
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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@@ -664,21 +636,10 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
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volume.integrate(odf, poses[0].matrix);
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}
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
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patchNaNs(points);
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anfas = counterOfValid(points);
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@@ -694,21 +655,10 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
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points.release();
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normals.release();
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals, colors);
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else
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volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals);
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patchNaNs(points);
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profile = counterOfValid(points);
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@@ -748,9 +698,7 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
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Mat points, normals, colors, newPoints, newNormals;
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int anfas, profile;
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OdometryFrame odf;
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odf.setDepth(depth);
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odf.setImage(rgb);
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OdometryFrame odf(rgb, depth);
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if (testSrcType == VolumeTestSrcType::MAT)
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{
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@@ -764,21 +712,10 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
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volume.integrate(odf, poses[0].matrix);
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}
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[0].matrix, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[0].matrix, points, normals, colors);
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else
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volume.raycast(poses[0].matrix, points, normals);
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patchNaNs(points);
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anfas = counterOfValid(points);
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@@ -794,21 +731,10 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
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points.release();
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normals.release();
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if (testSrcType == VolumeTestSrcType::MAT) // Odometry frame or Mats
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{
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[17].matrix, points, normals, colors);
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else
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volume.raycast(poses[17].matrix, points, normals);
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}
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else if (testSrcType == VolumeTestSrcType::ODOMETRY_FRAME)
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{
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volume.raycast(poses[17].matrix, odf);
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odf.getPyramidAt(points, OdometryFramePyramidType::PYR_CLOUD, 0);
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odf.getPyramidAt(normals, OdometryFramePyramidType::PYR_NORM, 0);
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if (volumeType == VolumeType::ColorTSDF)
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odf.getPyramidAt(colors, OdometryFramePyramidType::PYR_IMAGE, 0);
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}
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if (volumeType == VolumeType::ColorTSDF)
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volume.raycast(poses[17].matrix, points, normals, colors);
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else
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volume.raycast(poses[17].matrix, points, normals);
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patchNaNs(points);
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profile = counterOfValid(points);
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