373 lines
11 KiB
C++
373 lines
11 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_KinectFusion.md file found in this module's directory
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#include "test_precomp.hpp"
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// Inspired by Inigo Quilez' raymarching guide:
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// http://iquilezles.org/www/articles/distfunctions/distfunctions.htm
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namespace opencv_test { namespace {
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using namespace cv;
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/** Reprojects screen point to camera space given z coord. */
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struct Reprojector
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{
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Reprojector() {}
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inline Reprojector(Matx33f intr)
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{
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fxinv = 1.f/intr(0, 0), fyinv = 1.f/intr(1, 1);
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cx = intr(0, 2), cy = intr(1, 2);
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}
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template<typename T>
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inline cv::Point3_<T> operator()(cv::Point3_<T> p) const
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{
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T x = p.z * (p.x - cx) * fxinv;
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T y = p.z * (p.y - cy) * fyinv;
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return cv::Point3_<T>(x, y, p.z);
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}
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float fxinv, fyinv, cx, cy;
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};
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template<class Scene>
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struct RenderInvoker : ParallelLoopBody
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{
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RenderInvoker(Mat_<float>& _frame, Affine3f _pose,
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Reprojector _reproj,
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float _depthFactor) : ParallelLoopBody(),
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frame(_frame),
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pose(_pose),
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reproj(_reproj),
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depthFactor(_depthFactor)
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{ }
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virtual void operator ()(const cv::Range& r) const
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{
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for(int y = r.start; y < r.end; y++)
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{
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float* frameRow = frame[y];
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for(int x = 0; x < frame.cols; x++)
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{
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float pix = 0;
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Point3f orig = pose.translation();
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// direction through pixel
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Point3f screenVec = reproj(Point3f((float)x, (float)y, 1.f));
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float xyt = 1.f/(screenVec.x*screenVec.x +
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screenVec.y*screenVec.y + 1.f);
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Point3f dir = normalize(Vec3f(pose.rotation() * screenVec));
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// screen space axis
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dir.y = - dir.y;
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const float maxDepth = 20.f;
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const float maxSteps = 256;
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float t = 0.f;
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for(int step = 0; step < maxSteps && t < maxDepth; step++)
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{
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Point3f p = orig + dir*t;
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float d = Scene::map(p);
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if(d < 0.000001f)
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{
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float depth = std::sqrt(t*t*xyt);
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pix = depth*depthFactor;
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break;
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}
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t += d;
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}
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frameRow[x] = pix;
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}
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}
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}
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Mat_<float>& frame;
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Affine3f pose;
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Reprojector reproj;
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float depthFactor;
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};
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struct Scene
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{
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virtual ~Scene() {}
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static Ptr<Scene> create(int nScene, Size sz, Matx33f _intr, float _depthFactor);
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virtual Mat depth(Affine3f pose) = 0;
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virtual std::vector<Affine3f> getPoses() = 0;
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};
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struct CubeSpheresScene : Scene
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{
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const int framesPerCycle = 32;
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const float nCycles = 0.25f;
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const Affine3f startPose = Affine3f(Vec3f(-0.5f, 0.f, 0.f), Vec3f(2.1f, 1.4f, -2.1f));
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CubeSpheresScene(Size sz, Matx33f _intr, float _depthFactor) :
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frameSize(sz), intr(_intr), depthFactor(_depthFactor)
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{ }
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static float map(Point3f p)
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{
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float plane = p.y + 0.5f;
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Point3f boxPose = p - Point3f(-0.0f, 0.3f, 0.0f);
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float boxSize = 0.5f;
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float roundness = 0.08f;
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Point3f boxTmp;
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boxTmp.x = max(abs(boxPose.x) - boxSize, 0.0f);
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boxTmp.y = max(abs(boxPose.y) - boxSize, 0.0f);
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boxTmp.z = max(abs(boxPose.z) - boxSize, 0.0f);
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float roundBox = (float)cv::norm(boxTmp) - roundness;
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float sphereRadius = 0.7f;
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float sphere = (float)cv::norm(boxPose) - sphereRadius;
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float boxMinusSphere = max(roundBox, -sphere);
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float sphere2 = (float)cv::norm(p - Point3f(0.3f, 1.f, 0.f)) - 0.1f;
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float sphere3 = (float)cv::norm(p - Point3f(0.0f, 1.f, 0.f)) - 0.2f;
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float res = min(min(plane, boxMinusSphere), min(sphere2, sphere3));
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return res;
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}
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Mat depth(Affine3f pose) override
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{
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Mat_<float> frame(frameSize);
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Reprojector reproj(intr);
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Range range(0, frame.rows);
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parallel_for_(range, RenderInvoker<CubeSpheresScene>(frame, pose, reproj, depthFactor));
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return std::move(frame);
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}
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std::vector<Affine3f> getPoses() override
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{
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std::vector<Affine3f> poses;
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for(int i = 0; i < (int)(framesPerCycle*nCycles); i++)
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{
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float angle = (float)(CV_2PI*i/framesPerCycle);
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Affine3f pose;
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pose = pose.rotate(startPose.rotation());
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pose = pose.rotate(Vec3f(0.f, -1.f, 0.f)*angle);
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pose = pose.translate(Vec3f(startPose.translation()[0]*sin(angle),
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startPose.translation()[1],
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startPose.translation()[2]*cos(angle)));
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poses.push_back(pose);
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}
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return poses;
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}
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Size frameSize;
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Matx33f intr;
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float depthFactor;
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};
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struct RotatingScene : Scene
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{
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const int framesPerCycle = 32;
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const float nCycles = 0.5f;
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const Affine3f startPose = Affine3f(Vec3f(-1.f, 0.f, 0.f), Vec3f(1.5f, 2.f, -1.5f));
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RotatingScene(Size sz, Matx33f _intr, float _depthFactor) :
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frameSize(sz), intr(_intr), depthFactor(_depthFactor)
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{
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cv::RNG rng(0);
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rng.fill(randTexture, cv::RNG::UNIFORM, 0.f, 1.f);
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}
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static float noise(Point2f pt)
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{
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pt.x = abs(pt.x - (int)pt.x);
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pt.y = abs(pt.y - (int)pt.y);
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pt *= 256.f;
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int xi = cvFloor(pt.x), yi = cvFloor(pt.y);
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const float* row0 = randTexture[(yi+0)%256];
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const float* row1 = randTexture[(yi+1)%256];
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float v00 = row0[(xi+0)%256];
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float v01 = row0[(xi+1)%256];
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float v10 = row1[(xi+0)%256];
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float v11 = row1[(xi+1)%256];
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float tx = pt.x - xi, ty = pt.y - yi;
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float v0 = v00 + tx*(v01 - v00);
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float v1 = v10 + tx*(v11 - v10);
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return v0 + ty*(v1 - v0);
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}
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static float map(Point3f p)
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{
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const Point3f torPlace(0.f, 0.f, 0.f);
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Point3f torPos(p - torPlace);
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const Point2f torusParams(1.f, 0.2f);
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Point2f torq(std::sqrt(torPos.x*torPos.x + torPos.z*torPos.z) - torusParams.x, torPos.y);
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float torus = (float)cv::norm(torq) - torusParams.y;
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const Point3f cylShift(0.25f, 0.25f, 0.25f);
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Point3f cylPos = Point3f(abs(std::fmod(p.x-0.1f, cylShift.x)),
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p.y,
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abs(std::fmod(p.z-0.2f, cylShift.z))) - cylShift*0.5f;
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const Point2f cylParams(0.1f,
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0.1f+0.1f*sin(p.x*p.y*5.f /* +std::log(1.f+abs(p.x*0.1f)) */));
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Point2f cyld = Point2f(abs(std::sqrt(cylPos.x*cylPos.x + cylPos.z*cylPos.z)), abs(cylPos.y)) - cylParams;
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float pins = min(max(cyld.x, cyld.y), 0.0f) + (float)cv::norm(Point2f(max(cyld.x, 0.f), max(cyld.y, 0.f)));
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float terrain = p.y + 0.25f*noise(Point2f(p.x, p.z)*0.01f);
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float res = min(terrain, max(-pins, torus));
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return res;
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}
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Mat depth(Affine3f pose) override
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{
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Mat_<float> frame(frameSize);
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Reprojector reproj(intr);
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Range range(0, frame.rows);
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parallel_for_(range, RenderInvoker<RotatingScene>(frame, pose, reproj, depthFactor));
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return std::move(frame);
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}
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std::vector<Affine3f> getPoses() override
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{
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std::vector<Affine3f> poses;
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for(int i = 0; i < framesPerCycle*nCycles; i++)
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{
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float angle = (float)(CV_2PI*i/framesPerCycle);
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Affine3f pose;
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pose = pose.rotate(startPose.rotation());
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pose = pose.rotate(Vec3f(0.f, -1.f, 0.f)*angle);
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pose = pose.translate(Vec3f(startPose.translation()[0]*sin(angle),
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startPose.translation()[1],
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startPose.translation()[2]*cos(angle)));
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poses.push_back(pose);
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}
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return poses;
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}
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Size frameSize;
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Matx33f intr;
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float depthFactor;
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static cv::Mat_<float> randTexture;
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};
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Mat_<float> RotatingScene::randTexture(256, 256);
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Ptr<Scene> Scene::create(int nScene, Size sz, Matx33f _intr, float _depthFactor)
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{
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if(nScene == 0)
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return makePtr<RotatingScene>(sz, _intr, _depthFactor);
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else
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return makePtr<CubeSpheresScene>(sz, _intr, _depthFactor);
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}
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static const bool display = false;
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void flyTest(bool hiDense, bool inequal)
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{
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Ptr<kinfu::Params> params;
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if(hiDense)
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params = kinfu::Params::defaultParams();
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else
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params = kinfu::Params::coarseParams();
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if(inequal)
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{
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params->volumeDims[0] += 32;
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params->volumeDims[1] -= 32;
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}
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Ptr<Scene> scene = Scene::create(hiDense, params->frameSize, params->intr, params->depthFactor);
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Ptr<kinfu::KinFu> kf = kinfu::KinFu::create(params);
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std::vector<Affine3f> poses = scene->getPoses();
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Affine3f startPoseGT = poses[0], startPoseKF;
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Affine3f pose, kfPose;
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for(size_t i = 0; i < poses.size(); i++)
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{
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pose = poses[i];
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Mat depth = scene->depth(pose);
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ASSERT_TRUE(kf->update(depth));
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kfPose = kf->getPose();
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if(i == 0)
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startPoseKF = kfPose;
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pose = ( startPoseGT.inv() * pose )*startPoseKF;
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if(display)
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{
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imshow("depth", depth*(1.f/params->depthFactor/4.f));
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Mat rendered;
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kf->render(rendered);
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imshow("render", rendered);
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waitKey(10);
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}
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}
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double rvecThreshold = hiDense ? 0.01 : 0.02;
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ASSERT_LT(cv::norm(kfPose.rvec() - pose.rvec()), rvecThreshold);
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double poseThreshold = hiDense ? 0.03 : 0.1;
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ASSERT_LT(cv::norm(kfPose.translation() - pose.translation()), poseThreshold);
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}
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#ifdef OPENCV_ENABLE_NONFREE
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TEST( KinectFusion, lowDense )
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#else
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TEST(KinectFusion, DISABLED_lowDense)
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#endif
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{
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flyTest(false, false);
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}
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#ifdef OPENCV_ENABLE_NONFREE
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TEST( KinectFusion, highDense )
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#else
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TEST(KinectFusion, DISABLED_highDense)
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#endif
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{
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flyTest(true, false);
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}
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#ifdef OPENCV_ENABLE_NONFREE
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TEST( KinectFusion, inequal )
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#else
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TEST(KinectFusion, DISABLED_inequal)
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#endif
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{
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flyTest(false, true);
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}
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#ifdef HAVE_OPENCL
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#ifdef OPENCV_ENABLE_NONFREE
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TEST( KinectFusion, OCL )
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#else
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TEST(KinectFusion, DISABLED_OCL)
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#endif
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{
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cv::ocl::setUseOpenCL(false);
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||
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flyTest(false, false);
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cv::ocl::setUseOpenCL(true);
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flyTest(false, false);
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}
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#endif
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||
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}} // namespace
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