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Alexander Smorkalov
fc3803c67b
Dedicated pointcloud module #29224 OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134 ### 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 - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
108 lines
3.6 KiB
C++
108 lines
3.6 KiB
C++
// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html
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// This code is also subject to the license terms in the LICENSE_WillowGarage.md file found in this module's directory
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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class RgbdDepthRegistrationTest
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{
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public:
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RgbdDepthRegistrationTest() { }
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~RgbdDepthRegistrationTest() { }
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void run()
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{
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// Test all three input types for no-op registrations (where a depth image is registered to itself)
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noOpRandomRegistrationTest<unsigned short>(100, 2500);
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noOpRandomRegistrationTest<float>(0.1f, 2.5f);
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noOpRandomRegistrationTest<double>(0.1, 2.5);
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// Test sentinel value handling, occlusion, and dilation
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{
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// K from a VGA Kinect
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Mat K = (Mat_<float>(3, 3) << 525., 0., 319.5, 0., 525., 239.5, 0., 0., 1.);
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int width = 640, height = 480;
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// All elements are zero except for first two along the diagonal
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Mat_<unsigned short> vgaDepth(height, width, (unsigned short)0);
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vgaDepth(0, 0) = 1001;
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vgaDepth(1, 1) = 1000;
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Mat_<unsigned short> registeredDepth;
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registerDepth(K, K, Mat(), Matx44f::eye(), vgaDepth, Size(width, height), registeredDepth, true);
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// We expect the closer depth of 1000 to occlude the more distant depth and occupy the
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// upper four left pixels in the depth image because of dilation
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Mat_<unsigned short> expectedResult(height, width, (unsigned short)0);
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expectedResult(0, 0) = 1000;
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expectedResult(0, 1) = 1000;
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expectedResult(1, 0) = 1000;
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expectedResult(1, 1) = 1000;
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Mat ad;
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absdiff(registeredDepth, expectedResult, ad);
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ASSERT_GT(std::numeric_limits<double>::min(), abs(sum(ad)[0])) << "Dilation and occlusion";
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}
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}
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template <class DepthDepth>
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void noOpRandomRegistrationTest(DepthDepth minDepth, DepthDepth maxDepth)
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{
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// K from a VGA Kinect
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Mat K = (Mat_<float>(3, 3) << 525., 0., 319.5, 0., 525., 239.5, 0., 0., 1.);
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// Create a random depth image
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RNG rng;
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Mat_<DepthDepth> randomVGADepth(480, 640);
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rng.fill(randomVGADepth, RNG::UNIFORM, minDepth, maxDepth);
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Mat registeredDepth;
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registerDepth(K, K, Mat(), Matx44f::eye(), randomVGADepth, Size(640, 480), registeredDepth);
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// Check per-pixel relative difference
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Mat ad;
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absdiff(registeredDepth, randomVGADepth, ad);
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Mat mmin;
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cv::min(registeredDepth, randomVGADepth, mmin);
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Mat rel = ad / mmin;
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double maxDiff = cv::norm(rel, NORM_INF);
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ASSERT_GT(1e-07, maxDiff) << "No-op registration";
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}
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};
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TEST(RGBD_DepthRegistration, compute)
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{
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RgbdDepthRegistrationTest test;
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test.run();
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}
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TEST(RGBD_DepthRegistration, issue_2234)
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{
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Matx33f intrinsicsDepth(100, 0, 50, 0, 100, 50, 0, 0, 1);
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Matx33f intrinsicsColor(100, 0, 200, 0, 100, 50, 0, 0, 1);
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Mat_<float> depthMat(100, 100, (float)0.);
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for(int i = 1; i <= 100; i++)
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{
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for(int j = 1; j <= 100; j++)
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depthMat(i-1,j-1) = (float)j;
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}
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Mat registeredDepth;
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registerDepth(intrinsicsDepth, intrinsicsColor, Mat(), Matx44f::eye(), depthMat, Size(400, 100), registeredDepth);
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Rect roi( 150, 0, 100, 100 );
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Mat subM(registeredDepth,roi);
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EXPECT_EQ(0, cvtest::norm(subM, depthMat, NORM_INF));
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}
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}} // namespace
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