118 lines
3.3 KiB
C++
118 lines
3.3 KiB
C++
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// 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 CV_RgbdDepthRegistrationTest: public cvtest::BaseTest
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{
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public:
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CV_RgbdDepthRegistrationTest()
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{
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}
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~CV_RgbdDepthRegistrationTest()
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{
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}
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protected:
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void
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run(int)
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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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int code = noOpRandomRegistrationTest<unsigned short>(100, 2500);
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if( code != cvtest::TS::OK )
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{
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ts->set_failed_test_info(code);
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return;
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}
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code = noOpRandomRegistrationTest<float>(0.1f, 2.5f);
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if( code != cvtest::TS::OK )
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{
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ts->set_failed_test_info(code);
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return;
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}
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code = noOpRandomRegistrationTest<double>(0.1, 2.5);
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if( code != cvtest::TS::OK )
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{
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ts->set_failed_test_info(code);
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return;
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}
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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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int cmpResult = cvtest::cmpEps2( ts, registeredDepth, expectedResult, 0, true, "Dilation and occlusion");
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if( cmpResult != cvtest::TS::OK )
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{
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ts->set_failed_test_info(cmpResult);
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return;
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}
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}
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ts->set_failed_test_info(cvtest::TS::OK);
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}
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private:
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template <class DepthDepth>
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int 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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// See if registeredDepth == depth
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return cvtest::cmpEps2( ts, registeredDepth, randomVGADepth, 1e-5, true, "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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CV_RgbdDepthRegistrationTest test;
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test.safe_run();
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}
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}} // namespace
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