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Merge pull request #22925 from savuor:pytsdf_from_scratch

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Fixes #22799

Replaces #21559 which was taken as a base

Connected PR in contrib: [#3388@contrib](https://github.com/opencv/opencv_contrib/pull/3388)

### Changes
OK, now this is more Odometry-related PR than Volume-related. Anyway,
* `Volume` class gets wrapped
* The same was done for helper classes like `VolumeSettings`, `OdometryFrame` and `OdometrySettings`
* `OdometryFrame` constructor signature changed to more convenient where depth goes on 1st place, RGB image on 2nd.
This works better for depth-only `Odometry` algorithms.
* `OdometryFrame` is checked for amount of pyramid layers inside `Odometry::compute()`
* `Odometry` was fully wrapped + more docs added
* Added Python tests for `Odometry`, `OdometryFrame` and `Volume`
* Added Python sample for `Volume`
* Minor fixes including better var names

### Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

- [x] I agree to contribute to the project under Apache 2 License.
- [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV
- [x] The PR is proposed to the proper branch
- [x] There is a reference to the original bug report and related work
- [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable
      Patch to opencv_extra has the same branch name.
- [x] The feature is well documented and sample code can be built with the project CMake
This commit is contained in:
Rostislav Vasilikhin
2022-12-12 07:40:12 +01:00
committed by GitHub
parent 86c6e07326
commit d49958141e
22 changed files with 581 additions and 227 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/3d/misc/python/test/test_odometry.py
+40 -8
View File
@@ -6,7 +6,7 @@ import cv2 as cv
from tests_common import NewOpenCVTests
class odometry_test(NewOpenCVTests):
def commonOdometryTest(self, needRgb, otype):
def commonOdometryTest(self, needRgb, otype, algoType, useFrame):
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)
@@ -25,15 +25,29 @@ class odometry_test(NewOpenCVTests):
Rt_res = np.zeros((4, 4))
if otype is not None:
odometry = cv.Odometry(otype)
settings = cv.OdometrySettings()
odometry = cv.Odometry(otype, settings, algoType)
else:
odometry = cv.Odometry()
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
if needRgb:
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
if useFrame:
if needRgb:
srcFrame = cv.OdometryFrame(depth, rgb)
dstFrame = cv.OdometryFrame(warped_depth, warped_rgb)
else:
srcFrame = cv.OdometryFrame(depth)
dstFrame = cv.OdometryFrame(warped_depth)
odometry.prepareFrames(srcFrame, dstFrame)
isCorrect = odometry.compute(srcFrame, dstFrame, Rt_res)
else:
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
if needRgb:
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
@@ -41,16 +55,34 @@ class odometry_test(NewOpenCVTests):
self.assertTrue(isCorrect)
def test_OdometryDefault(self):
self.commonOdometryTest(False, None)
self.commonOdometryTest(False, None, None, False)
def test_OdometryDefaultFrame(self):
self.commonOdometryTest(False, None, None, True)
def test_OdometryDepth(self):
self.commonOdometryTest(False, cv.DEPTH)
self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, False)
def test_OdometryDepthFast(self):
self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, False)
def test_OdometryDepthFrame(self):
self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_COMMON, True)
def test_OdometryDepthFastFrame(self):
self.commonOdometryTest(False, cv.OdometryType_DEPTH, cv.OdometryAlgoType_FAST, True)
def test_OdometryRGB(self):
self.commonOdometryTest(True, cv.RGB)
self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, False)
def test_OdometryRGBFrame(self):
self.commonOdometryTest(True, cv.OdometryType_RGB, cv.OdometryAlgoType_COMMON, True)
def test_OdometryRGB_Depth(self):
self.commonOdometryTest(True, cv.RGB_DEPTH)
self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, False)
def test_OdometryRGB_DepthFrame(self):
self.commonOdometryTest(True, cv.OdometryType_RGB_DEPTH, cv.OdometryAlgoType_COMMON, True)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()
modules/3d/misc/python/test/test_volume.py
+123
View File
@@ -0,0 +1,123 @@
import numpy as np
import cv2 as cv
from tests_common import NewOpenCVTests
class volume_test(NewOpenCVTests):
def test_VolumeDefault(self):
depthPath = 'cv/rgbd/depth.png'
depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
if depth.size <= 0:
raise Exception('Failed to load depth file: %s' % depthPath)
Rt = np.eye(4)
volume = cv.Volume()
volume.integrate(depth, Rt)
size = (480, 640, 4)
points = np.zeros(size, np.float32)
normals = np.zeros(size, np.float32)
Kraycast = np.array([[525. , 0. , 319.5],
[ 0. , 525. , 239.5],
[ 0. , 0. , 1. ]])
volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
volume.raycast(Rt, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
def test_VolumeTSDF(self):
depthPath = 'cv/rgbd/depth.png'
depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
if depth.size <= 0:
raise Exception('Failed to load depth file: %s' % depthPath)
Rt = np.eye(4)
settings = cv.VolumeSettings(cv.VolumeType_TSDF)
volume = cv.Volume(cv.VolumeType_TSDF, settings)
volume.integrate(depth, Rt)
size = (480, 640, 4)
points = np.zeros(size, np.float32)
normals = np.zeros(size, np.float32)
Kraycast = settings.getCameraRaycastIntrinsics()
volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
volume.raycast(Rt, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
def test_VolumeHashTSDF(self):
depthPath = 'cv/rgbd/depth.png'
depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
if depth.size <= 0:
raise Exception('Failed to load depth file: %s' % depthPath)
Rt = np.eye(4)
settings = cv.VolumeSettings(cv.VolumeType_HashTSDF)
volume = cv.Volume(cv.VolumeType_HashTSDF, settings)
volume.integrate(depth, Rt)
size = (480, 640, 4)
points = np.zeros(size, np.float32)
normals = np.zeros(size, np.float32)
Kraycast = settings.getCameraRaycastIntrinsics()
volume.raycastEx(Rt, size[0], size[1], Kraycast, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
volume.raycast(Rt, points, normals)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
def test_VolumeColorTSDF(self):
depthPath = 'cv/rgbd/depth.png'
rgbPath = 'cv/rgbd/rgb.png'
depth = self.get_sample(depthPath, cv.IMREAD_ANYDEPTH).astype(np.float32)
rgb = self.get_sample(rgbPath, cv.IMREAD_ANYCOLOR).astype(np.float32)
if depth.size <= 0:
raise Exception('Failed to load depth file: %s' % depthPath)
if rgb.size <= 0:
raise Exception('Failed to load RGB file: %s' % rgbPath)
Rt = np.eye(4)
settings = cv.VolumeSettings(cv.VolumeType_ColorTSDF)
volume = cv.Volume(cv.VolumeType_ColorTSDF, settings)
volume.integrateColor(depth, rgb, Rt)
size = (480, 640, 4)
points = np.zeros(size, np.float32)
normals = np.zeros(size, np.float32)
colors = np.zeros(size, np.float32)
Kraycast = settings.getCameraRaycastIntrinsics()
volume.raycastExColor(Rt, size[0], size[1], Kraycast, points, normals, colors)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
volume.raycastColor(Rt, points, normals, colors)
self.assertEqual(points.shape, size)
self.assertEqual(points.shape, normals.shape)
self.assertEqual(points.shape, colors.shape)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()