More tests for normals #22241
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More tests for normals #22241
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asmorkalov
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Also please pay attention that test data patch is very large. It makes sense to reduce it. |
asmorkalov
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Looks like the footprint size is calculated incorrectly: the diff between 5.x and the branch in |
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RgbdNormals: setMethod() removed as useless RgbdNormals: tests + cross product, to be fixed + cross product LINEMOD: diffThreshold param added + tests fixed minor diffThreshold fix points3dToDepth16U fix normals computer diffThreshold fix random plane generation fixed + diffThreshold fix Rendered normals test rewritten to GTest Params random plane generation: scale RGBD_Normals tests: thresholds tuned Rendered normals tests: 64F support added Random planes normal tests rewritten to GTest Params LINEMOD and CrossProduct fix SRI threshold raised NormalsRandomPlanes: thresholds raised assert on unknown alg; minor fix frame size reduced TIFF replaced by YAML.GZ depthTo3d test changed cv::transform is used fix warning nanMask() flipAxes() absDotPixel() + forgotten code helper functions removed RGBDNormals: checkNormals() and compare LINEMOD's pts3d to depth input Rendered: another criteria; thresholds; LINEMOD's pts3d to depth input comparison thresholds raised a bit SRI slightly optimized assert change normal tests refactored, parametrized, split trailing namespace, thresholds raised SRI caching optimized a lot normal tests rewritten to fixture, no loop minor runCase() joined with testIt() thresholds were put into GTest params ternary operator RgbdNormalsTest merged into NormalsRandomPlanes; RgbdPlanes moved closer to tests normal test minor refactoring plane finder tests refactored to GTest Params skip tests thresholds raised plane test minor plane tests: timers dropped, nPlanes put into GTest Params; refactoring generated normals tests: minor refactoring flipAxes() templated rendered normals tests refactored: thresholds to GTest Params CV_Error -> ASSERT_FALSE
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Looks good for me in general.
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This PR contains
setMethod: usecreatestatic method insteaddepthTo3dfunction for dense case with mask, test addedCrossProduct- a new normal computer implementing the most naive way to calculate normals on a depth image, performing no filtering or any "smart" operationsConnected test data PR: opencv/opencv_extra#991
TODO (next PRs):
nanMaskincoremodulePull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.