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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html
// This code is also subject to the license terms in the LICENSE_KinectFusion.md file found in this module's directory
#include "test_precomp.hpp"
#ifdef HAVE_OPENGL
namespace opencv_test { namespace {
static std::vector<std::string> readDepth(std::string fileList)
{
std::vector<std::string> v;
std::fstream file(fileList);
if(!file.is_open())
throw std::runtime_error("Failed to read depth list");
std::string dir;
size_t slashIdx = fileList.rfind('/');
slashIdx = slashIdx != std::string::npos ? slashIdx : fileList.rfind('\\');
dir = fileList.substr(0, slashIdx);
while(!file.eof())
{
std::string s, imgPath;
std::getline(file, s);
if(s.empty() || s[0] == '#') continue;
std::stringstream ss;
ss << s;
double thumb;
ss >> thumb >> imgPath;
v.push_back(dir+'/'+imgPath);
}
return v;
}
static const bool display = false;
void flyTest(bool hiDense, bool inequal)
{
Ptr<kinfu::Params> params;
if(hiDense)
params = kinfu::Params::defaultParams();
else
params = kinfu::Params::coarseParams();
if(inequal)
{
params->volumeDims[0] += 32;
params->volumeDims[1] -= 32;
}
std::vector<String> depths = readDepth(cvtest::TS::ptr()->get_data_path() + "dynafu/depth.txt");
CV_Assert(!depths.empty());
Ptr<dynafu::DynaFu> df = dynafu::DynaFu::create(params);
// Check for first 10 frames
CV_Assert(depths.size() >= 10);
Mat currentDepth, prevDepth;
for(size_t i = 0; i < 10; i++)
{
currentDepth = cv::imread(depths[i], IMREAD_ANYDEPTH);
ASSERT_TRUE(df->update(currentDepth));
Mat renderedDepth;
df->renderSurface(renderedDepth, noArray(), noArray());
if(i > 0)
{
// Check if estimated depth aligns with actual depth in the previous frame
Mat depthCvt8, renderCvt8;
convertScaleAbs(prevDepth, depthCvt8, 0.25*256. / params->depthFactor);
convertScaleAbs(renderedDepth, renderCvt8, 0.33*255, -0.5*0.33*255);
Mat diff;
absdiff(depthCvt8, renderCvt8, diff);
Scalar_<float> mu, sigma;
meanStdDev(diff, mu, sigma);
std::cout << "Mean: " << mu[0] << ", Std dev: " << sigma[0] << std::endl;
}
if(display)
{
imshow("depth", currentDepth*(1.f/params->depthFactor/4.f));
Mat rendered;
df->render(rendered);
imshow("render", rendered);
waitKey(10);
}
currentDepth.copyTo(prevDepth);
}
}
/*
#ifdef OPENCV_ENABLE_NONFREE
TEST( DynamicFusion, lowDense )
#else
TEST(DynamicFusion, DISABLED_lowDense)
#endif
{
flyTest(false, false);
}
#ifdef OPENCV_ENABLE_NONFREE
TEST( DynamicFusion, inequal )
#else
TEST(DynamicFusion, DISABLED_inequal)
#endif
{
flyTest(false, true);
}
*/
// To enable DynamicFusion tests, uncomment the above lines and delete the following lines
TEST(DynamicFusion, DISABLED)
{
CV_UNUSED(flyTest);
}
}} // namespace
#endif
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