mirror of
https://github.com/opencv/opencv.git
synced 2026-07-31 08:13:04 +04:00
Merge pull request #22845 from savuor:volume_interface_etc
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
committed by
GitHub
GitHub
parent
2407ab4e61
commit
a423b07149
+364
-282
@@ -477,26 +477,31 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intr;
|
||||
vs.getCameraIntegrateIntrinsics(intr);
|
||||
bool onlySemisphere = false;
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
vs.getCameraIntegrateIntrinsics(intrIntegrate);
|
||||
vs.getCameraRaycastIntrinsics(intrRaycast);
|
||||
bool onlySemisphere = false; //TODO: check both
|
||||
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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
Mat rgb = scene->rgb(poses[0]);
|
||||
Mat points, normals, tmpnormals, colors;
|
||||
//TODO: check this utmpnormals, it looks redundant
|
||||
UMat upoints, unormals, utmpnormals, ucolors;
|
||||
UMat udepth, urgb;
|
||||
depth.copyTo(udepth);
|
||||
rgb.copyTo(urgb);
|
||||
|
||||
OdometryFrame odf(rgb, depth);
|
||||
OdometryFrame odf(urgb, udepth);
|
||||
|
||||
if (testSrcType == VolumeTestSrcType::MAT)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.integrate(depth, rgb, poses[0].matrix);
|
||||
volume.integrate(udepth, urgb, poses[0].matrix);
|
||||
else
|
||||
volume.integrate(depth, poses[0].matrix);
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -506,26 +511,31 @@ void normal_test_custom_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
if (testFunction == VolumeTestFunction::RAYCAST)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
||||
else
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
}
|
||||
else if (testFunction == VolumeTestFunction::FETCH_NORMALS)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, tmpnormals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals, ucolors);
|
||||
else
|
||||
// hash_tsdf cpu don't works with raycast normals
|
||||
//volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, tmpnormals);
|
||||
volume.fetchPointsNormals(points, tmpnormals);
|
||||
// hash_tsdf cpu doesn't work with raycast normals
|
||||
//volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, utmpnormals);
|
||||
volume.fetchPointsNormals(upoints, utmpnormals);
|
||||
|
||||
volume.fetchNormals(points, normals);
|
||||
volume.fetchNormals(upoints, unormals);
|
||||
}
|
||||
else if (testFunction == VolumeTestFunction::FETCH_POINTS_NORMALS)
|
||||
{
|
||||
volume.fetchPointsNormals(points, normals);
|
||||
volume.fetchPointsNormals(upoints, unormals);
|
||||
}
|
||||
|
||||
Mat points, normals, colors;
|
||||
points = upoints.getMat(ACCESS_READ);
|
||||
normals = unormals.getMat(ACCESS_READ);
|
||||
colors = ucolors.getMat(ACCESS_READ);
|
||||
|
||||
if (testFunction == VolumeTestFunction::RAYCAST && cvtest::debugLevel > 0)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
@@ -544,12 +554,13 @@ void normal_test_common_framesize(VolumeType volumeType, VolumeTestFunction test
|
||||
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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@@ -611,12 +622,13 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
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 = true;
|
||||
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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@@ -639,9 +651,9 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
}
|
||||
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
|
||||
else
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals);
|
||||
|
||||
patchNaNs(points);
|
||||
anfas = counterOfValid(points);
|
||||
@@ -658,9 +670,9 @@ void valid_points_test_custom_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
normals.release();
|
||||
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals, colors);
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals, colors);
|
||||
else
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, points, normals);
|
||||
volume.raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, points, normals);
|
||||
|
||||
patchNaNs(points);
|
||||
profile = counterOfValid(points);
|
||||
@@ -688,12 +700,13 @@ void valid_points_test_common_framesize(VolumeType volumeType, VolumeTestSrcType
|
||||
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 = true;
|
||||
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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@@ -803,11 +816,12 @@ void boundingBoxGrowthTest(bool enableGrowth)
|
||||
Volume volume(VolumeType::HashTSDF, 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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@@ -972,12 +986,13 @@ void regressionVolPoseRot()
|
||||
Volume volumeRot(VolumeType::HashTSDF, vsRot);
|
||||
|
||||
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();
|
||||
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
@@ -1203,250 +1218,330 @@ TEST_P(StaticVolumeBoundingBox, boundingBox)
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
|
||||
#else
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
enum PlatformType
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, reproduce_volPoseRot)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
regressionVolPoseRot();
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_fetch)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_fetch)
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
cv::ocl::setUseOpenCL(true);
|
||||
}
|
||||
|
||||
CPU = 0, GPU = 1
|
||||
};
|
||||
CV_ENUM(PlatformTypeEnum, PlatformType::CPU, PlatformType::GPU);
|
||||
|
||||
// used to store current OpenCL status (on/off) and revert it after test is done
|
||||
// works even after exceptions thrown in test body
|
||||
struct OpenCLStatusRevert
|
||||
{
|
||||
OpenCLStatusRevert(bool oclStatus) : originalOpenCLStatus(oclStatus) { }
|
||||
#ifdef HAVE_OPENCL
|
||||
OpenCLStatusRevert()
|
||||
{
|
||||
originalOpenCLStatus = cv::ocl::useOpenCL();
|
||||
}
|
||||
~OpenCLStatusRevert()
|
||||
{
|
||||
cv::ocl::setUseOpenCL(originalOpenCLStatus);
|
||||
}
|
||||
void off()
|
||||
{
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
}
|
||||
bool originalOpenCLStatus;
|
||||
#else
|
||||
void off() { }
|
||||
#endif
|
||||
};
|
||||
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<VolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, boundingBoxCPU)
|
||||
// CV_ENUM does not support enum class types, so let's implement the class explicitly
|
||||
namespace
|
||||
{
|
||||
OpenCLStatusRevert revert(cv::ocl::useOpenCL());
|
||||
struct VolumeTypeEnum
|
||||
{
|
||||
static const std::array<VolumeType, 3> vals;
|
||||
static const std::array<std::string, 3> svals;
|
||||
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
VolumeTypeEnum(VolumeType v = VolumeType::TSDF) : val(v) {}
|
||||
operator VolumeType() const { return val; }
|
||||
void PrintTo(std::ostream *os) const
|
||||
{
|
||||
int v = int(val);
|
||||
if (v >= 0 && v < 3)
|
||||
{
|
||||
*os << svals[v];
|
||||
}
|
||||
else
|
||||
{
|
||||
*os << "UNKNOWN";
|
||||
}
|
||||
}
|
||||
static ::testing::internal::ParamGenerator<VolumeTypeEnum> all()
|
||||
{
|
||||
return ::testing::Values(VolumeTypeEnum(vals[0]), VolumeTypeEnum(vals[1]), VolumeTypeEnum(vals[2]));
|
||||
}
|
||||
|
||||
staticBoundingBoxTest(GetParam());
|
||||
private:
|
||||
VolumeType val;
|
||||
};
|
||||
const std::array<VolumeType, 3> VolumeTypeEnum::vals{VolumeType::TSDF, VolumeType::HashTSDF, VolumeType::ColorTSDF};
|
||||
const std::array<std::string, 3> VolumeTypeEnum::svals{std::string("TSDF"), std::string("HashTSDF"), std::string("ColorTSDF")};
|
||||
|
||||
static inline void PrintTo(const VolumeTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
typedef std::tuple<PlatformTypeEnum, VolumeTypeEnum> PlatformVolumeType;
|
||||
struct VolumeTestFixture : public ::testing::TestWithParam<PlatformVolumeType>
|
||||
{
|
||||
protected:
|
||||
void SetUp() override
|
||||
{
|
||||
auto p = GetParam();
|
||||
gpu = std::get<0>(p);
|
||||
volumeType = std::get<1>(p);
|
||||
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
}
|
||||
|
||||
bool gpu;
|
||||
VolumeType volumeType;
|
||||
OpenCLStatusRevert oclStatus;
|
||||
};
|
||||
|
||||
|
||||
TEST_P(VolumeTestFixture, raycast_custom_framesize_normals_mat)
|
||||
{
|
||||
normal_test_custom_framesize(volumeType, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
//TODO: uncomment it when ColorTSDF gets GPU version
|
||||
INSTANTIATE_TEST_CASE_P(VolumeCPU, VolumeTestFixture, /*::testing::Combine(PlatformTypeEnum::all(), VolumeTypeEnum::all())*/
|
||||
::testing::Values(PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::HashTSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::HashTSDF}));
|
||||
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
TEST(TSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::TSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(TSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::TSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::HashTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::HashTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_custom_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, valid_points_common_framesize_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::HashTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(HashTSDF_CPU, reproduce_volPoseRot)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
regressionVolPoseRot();
|
||||
}
|
||||
|
||||
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_custom_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, raycast_common_framesize_normals_frame)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_common_framesize(VolumeType::ColorTSDF, VolumeTestFunction::RAYCAST, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, fetch_points_normals)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
normal_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestFunction::FETCH_POINTS_NORMALS, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_custom_framesize_fetch)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_custom_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_mat)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::MAT);
|
||||
}
|
||||
|
||||
TEST(ColorTSDF_CPU, valid_points_common_framesize_fetch)
|
||||
{
|
||||
OpenCLStatusRevert oclStatus;
|
||||
oclStatus.off();
|
||||
valid_points_test_common_framesize(VolumeType::ColorTSDF, VolumeTestSrcType::ODOMETRY_FRAME);
|
||||
}
|
||||
|
||||
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<PlatformVolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, staticBoundingBox)
|
||||
{
|
||||
auto p = GetParam();
|
||||
bool gpu = bool(std::get<0>(p));
|
||||
VolumeType volumeType = std::get<1>(p);
|
||||
|
||||
OpenCLStatusRevert oclStatus;
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
|
||||
staticBoundingBoxTest(volumeType);
|
||||
}
|
||||
|
||||
//TODO: edit this list when ColorTSDF gets GPU support
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF}));
|
||||
|
||||
|
||||
// OpenCL tests
|
||||
@@ -1455,44 +1550,31 @@ TEST(HashTSDF_GPU, reproduce_volPoseRot)
|
||||
regressionVolPoseRot();
|
||||
}
|
||||
|
||||
//TODO: use this when ColorTSDF gets GPU support
|
||||
/*
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<VolumeType>
|
||||
{ };
|
||||
|
||||
TEST_P(StaticVolumeBoundingBox, GPU)
|
||||
enum Growth
|
||||
{
|
||||
staticBoundingBoxTest(GetParam());
|
||||
}
|
||||
OFF = 0, ON = 1
|
||||
};
|
||||
CV_ENUM(GrowthEnum, Growth::OFF, Growth::ON);
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, StaticVolumeBoundingBox, ::testing::Values(VolumeType::TSDF, VolumeType::ColorTSDF));
|
||||
*/
|
||||
|
||||
// until that, we don't need parametrized test
|
||||
TEST(TSDF, boundingBoxGPU)
|
||||
{
|
||||
staticBoundingBoxTest(VolumeType::TSDF);
|
||||
}
|
||||
|
||||
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<bool, bool>>
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, GrowthEnum>>
|
||||
{ };
|
||||
|
||||
TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
|
||||
{
|
||||
auto p = GetParam();
|
||||
bool gpu = std::get<0>(p);
|
||||
bool enableGrowth = std::get<1>(p);
|
||||
bool gpu = bool(std::get<0>(p));
|
||||
bool enableGrowth = bool(std::get<1>(p));
|
||||
|
||||
OpenCLStatusRevert revert(cv::ocl::useOpenCL());
|
||||
OpenCLStatusRevert oclStatus;
|
||||
|
||||
if (!gpu)
|
||||
cv::ocl::setUseOpenCL(false);
|
||||
oclStatus.off();
|
||||
|
||||
boundingBoxGrowthTest(enableGrowth);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, BoundingBoxEnableGrowthTest, ::testing::Combine(::testing::Bool(), ::testing::Bool()));
|
||||
INSTANTIATE_TEST_CASE_P(TSDF, BoundingBoxEnableGrowthTest, ::testing::Combine(PlatformTypeEnum::all(), GrowthEnum::all()));
|
||||
|
||||
#endif
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user