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warpFrame() test draft + script generating test data

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This commit is contained in:
Rostislav Vasilikhin
2022-06-23 23:18:59 +02:00
parent df490c6399
commit bee410c748
3 changed files with 188 additions and 8 deletions
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modules/3d/test/test_odometry.cpp
+57
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@@ -491,4 +491,61 @@ TEST(RGBD_Odometry_FastICP, prepareFrame)
test.prepareFrameCheck();
}
TEST(RGBD_Odometry_WarpFrame, compareToGold)
{
//TODO: identity transform
//TODO: finish it
std::string dataPath = cvtest::TS::ptr()->get_data_path();
std::string srcDepthFilename = dataPath + "/cv/rgbd/depth.png";
// The depth was generated using the script at 3d/misc/python/warp_test.py
std::string warpedDepthFilename = dataPath + "/cv/rgbd/warped.png";
Mat srcDepth, warpedDepth;
srcDepth = imread(srcDepthFilename, -1);
if(srcDepth.empty())
{
FAIL() << "Depth " << srcDepthFilename.c_str() << "can not be read" << std::endl;
}
warpedDepth = imread(warpedDepthFilename, -1);
if(warpedDepth.empty())
{
FAIL() << "Depth " << warpedDepthFilename.c_str() << "can not be read" << std::endl;
}
CV_DbgAssert(srcDepth.type() == CV_16UC1);
CV_DbgAssert(warpedDepth.type() == CV_16UC1);
double fx = 525.0, fy = 525.0,
cx = 319.5, cy = 239.5;
Matx33d K(fx, 0, cx,
0, fy, cy,
0, 0, 1);
cv::Affine3d rt(cv::Vec3d(0.1, 0.2, 0.3), cv::Vec3d(-0.04, 0.05, 0.6));
//TODO: check with and without scaling
Mat srcDepthCvt, warpedDepthCvt;
srcDepth.convertTo(srcDepthCvt, CV_32FC1, 1.f/5000.f);
srcDepth = srcDepthCvt;
warpedDepth.convertTo(warpedDepthCvt, CV_32FC1, 1.f/5000.f);
warpedDepth = warpedDepthCvt;
srcDepth.setTo(std::numeric_limits<float>::quiet_NaN(), srcDepth < FLT_EPSILON);
warpedDepth.setTo(std::numeric_limits<float>::quiet_NaN(), warpedDepth < FLT_EPSILON);
//TODO: check with and without image
//TODO: check with and without mask
//TODO: check with and without distCoeff
Mat image, mask, distCoeff, dstImage, dstDepth, dstMask;
warpFrame(image, srcDepth, mask, rt.matrix, K, distCoeff,
dstImage, dstDepth, dstMask);
//TODO: check this norm
double depthDiff = cv::norm(dstDepth, warpedDepth, NORM_L2);
//TODO: find true threshold, maybe based on pixcount
ASSERT_LE(0.1, depthDiff);
}
}} // namespace