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Merge pull request #22845 from savuor:volume_interface_etc

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Corresponding contrib PR: #3382@contrib

Changes

- Volume::raycast(): camera intrinsics can be explicitly passed to the function. If not, the ones from current volume settings are used
- getVolumeDimensions() renamed to getVolumeStrides() because they are strides actually
- TSDF tests: OpenCLStatusRevert and parametrized fixture
- ColorTSDF::integrate(): extra RGB projector is redundant, removed
- Minor changes
This commit is contained in:
Rostislav Vasilikhin
2022-11-24 15:16:18 +01:00
committed by GitHub
parent 2407ab4e61
commit a423b07149
15 changed files with 616 additions and 557 deletions
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modules/3d/perf/perf_tsdf.cpp
+65 -50
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@@ -428,11 +428,12 @@ PERF_TEST(Perf_TSDF, integrate_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -460,11 +461,12 @@ PERF_TEST(Perf_TSDF, integrate_frame)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -492,12 +494,13 @@ PERF_TEST(Perf_TSDF, raycast_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Vec3f lightPose = Vec3f::all(0.f);
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -509,7 +512,7 @@ PERF_TEST(Perf_TSDF, raycast_mat)
volume.integrate(depth, pose);
startTimer();
volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
stopTimer();
if (display)
@@ -531,11 +534,12 @@ PERF_TEST(Perf_TSDF_CPU, integrate_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
@@ -564,11 +568,12 @@ PERF_TEST(Perf_TSDF_CPU, integrate_frame)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -597,12 +602,13 @@ PERF_TEST(Perf_TSDF_CPU, raycast_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Vec3f lightPose = Vec3f::all(0.f);
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -614,7 +620,7 @@ PERF_TEST(Perf_TSDF_CPU, raycast_mat)
volume.integrate(depth, pose);
startTimer();
volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
stopTimer();
if (display)
@@ -640,11 +646,12 @@ PERF_TEST(Perf_HashTSDF, integrate_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -672,11 +679,12 @@ PERF_TEST(Perf_HashTSDF, integrate_frame)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -705,12 +713,13 @@ PERF_TEST(Perf_HashTSDF, raycast_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Vec3f lightPose = Vec3f::all(0.f);
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -722,7 +731,7 @@ PERF_TEST(Perf_HashTSDF, raycast_mat)
volume.integrate(depth, pose);
startTimer();
volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
stopTimer();
if (display)
@@ -743,11 +752,12 @@ PERF_TEST(Perf_HashTSDF_CPU, integrate_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
@@ -776,11 +786,12 @@ PERF_TEST(Perf_HashTSDF_CPU, integrate_frame)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -809,12 +820,13 @@ PERF_TEST(Perf_HashTSDF_CPU, raycast_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Vec3f lightPose = Vec3f::all(0.f);
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -826,7 +838,7 @@ PERF_TEST(Perf_HashTSDF_CPU, raycast_mat)
volume.integrate(depth, pose);
startTimer();
volume.raycast(pose, frameSize.height, frameSize.width, points, normals);
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals);
stopTimer();
if (display)
@@ -851,11 +863,12 @@ PERF_TEST(Perf_ColorTSDF, integrate_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -884,11 +897,12 @@ PERF_TEST(Perf_ColorTSDF, integrate_frame)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -918,12 +932,13 @@ PERF_TEST(Perf_ColorTSDF, raycast_mat)
Volume volume(volumeType, vs);
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
Matx33f intr;
vs.getCameraIntegrateIntrinsics(intr);
Matx33f intrIntegrate, intrRaycast;
vs.getCameraIntegrateIntrinsics(intrIntegrate);
vs.getCameraRaycastIntrinsics(intrRaycast);
bool onlySemisphere = false;
float depthFactor = vs.getDepthFactor();
Vec3f lightPose = Vec3f::all(0.f);
Ptr<Scene> scene = Scene::create(frameSize, intr, depthFactor, onlySemisphere);
Ptr<Scene> scene = Scene::create(frameSize, intrIntegrate, depthFactor, onlySemisphere);
std::vector<Affine3f> poses = scene->getPoses();
for (size_t i = 0; i < poses.size(); i++)
@@ -937,7 +952,7 @@ PERF_TEST(Perf_ColorTSDF, raycast_mat)
volume.integrate(depth, rgb, pose);
startTimer();
volume.raycast(pose, frameSize.height, frameSize.width, points, normals, colors);
volume.raycast(pose, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
stopTimer();
if (display)