mirror of
https://github.com/opencv/opencv.git
synced 2026-09-12 13:23:03 -05:00
Merge pull request #27823 from armanrasta:5.x
Add ColorHashTSDFVolume implementation #27823 # Add ColorHashTSDFVolume implementation [[#25155](https://github.com/opencv/opencv/issues/25155)] ## Description Added a new ColorHashTSDFVolume implementation that combines the benefits of HashTSDFVolume's efficient spatial hashing with color support. This provides memory-efficient RGB-D fusion with better performance compared to regular ColorTSDFVolume. ### Key Features - Hash-based spatial data structure for efficient storage - Color integration during volume updates - Raycast with color interpolation - Compatible with existing TSDF interfaces - CPU implementation with parallel processing support ### Implementation Details - Added new ColorHashTSDFVolume class with create() factory method - ColorVoxel structure combining TSDF and RGB data - Spatial hashing for efficient voxel lookup - Weighted running average for color updates - Trilinear interpolation during raycasting - Unit tests for basic operations and edge cases ### Files Modified/Added - modules/3d/src/rgbd/color_hash_volume.hpp - New header defining ColorHashTSDFVolume interface - modules/3d/src/rgbd/color_hash_volume.cpp - Implementation of ColorHashTSDFVolume - modules/3d/test/test_color_hash_volume.cpp - Unit tests ### Performance The implementation uses spatial hashing to only store voxels near surfaces, significantly reducing memory usage compared to regular ColorTSDFVolume while maintaining similar processing speed. ### Testing Added unit tests that verify: - Basic integration and raycasting operations - Empty volume handling - Memory usage patterns ### Future Work - GPU/OpenCL implementation - Additional color interpolation methods - Extended comparison tests with other volume types
This commit is contained in:
Arman Rostami
@@ -517,11 +517,11 @@ void staticBoundingBoxTest(VolumeType volumeType)
|
||||
}
|
||||
|
||||
|
||||
// For HashTSDF only
|
||||
void boundingBoxGrowthTest(bool enableGrowth)
|
||||
// For HashTSDF and ColorHashTSDF
|
||||
void boundingBoxGrowthTest(VolumeType volumeType, bool enableGrowth)
|
||||
{
|
||||
VolumeSettings vs(VolumeType::HashTSDF);
|
||||
Volume volume(VolumeType::HashTSDF, vs);
|
||||
VolumeSettings vs(volumeType);
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
@@ -536,11 +536,25 @@ void boundingBoxGrowthTest(bool enableGrowth)
|
||||
UMat udepth;
|
||||
depth.copyTo(udepth);
|
||||
|
||||
const bool isColor = (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF);
|
||||
Mat rgb;
|
||||
UMat urgb;
|
||||
if (isColor)
|
||||
{
|
||||
rgb = scene->rgb(poses[0]);
|
||||
rgb.copyTo(urgb);
|
||||
}
|
||||
|
||||
// depth is integrated with multiple weight
|
||||
// TODO: add weight parameter to integrate() call (both scalar and array of 8u/32f)
|
||||
const int nIntegrations = 1;
|
||||
for (int i = 0; i < nIntegrations; i++)
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
{
|
||||
if (isColor)
|
||||
volume.integrate(udepth, urgb, poses[0].matrix);
|
||||
else
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
}
|
||||
|
||||
Vec6f bb;
|
||||
volume.getBoundingBox(bb, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
||||
@@ -569,7 +583,12 @@ void boundingBoxGrowthTest(bool enableGrowth)
|
||||
volume.setEnableGrowth(enableGrowth);
|
||||
|
||||
for (int i = 0; i < nIntegrations; i++)
|
||||
volume.integrate(udepth2, poses[0].matrix);
|
||||
{
|
||||
if (isColor)
|
||||
volume.integrate(udepth2, urgb, poses[0].matrix);
|
||||
else
|
||||
volume.integrate(udepth2, poses[0].matrix);
|
||||
}
|
||||
|
||||
Vec6f bb2;
|
||||
volume.getBoundingBox(bb2, Volume::BoundingBoxPrecision::VOLUME_UNIT);
|
||||
@@ -675,12 +694,12 @@ Ptr<Scene> makeRepeatableScene(Size sz, Matx33f _intr, float _depthFactor)
|
||||
return makePtr<CubesScene>(sz, _intr, _depthFactor);
|
||||
}
|
||||
|
||||
// For HashTSDF only
|
||||
void hugeSceneGrowthTest()
|
||||
// For HashTSDF and ColorHashTSDF
|
||||
void hugeSceneGrowthTest(VolumeType volumeType)
|
||||
{
|
||||
VolumeSettings vs(VolumeType::HashTSDF);
|
||||
VolumeSettings vs(volumeType);
|
||||
vs.setMaxDepth(10);
|
||||
Volume volume(VolumeType::HashTSDF, vs);
|
||||
Volume volume(volumeType, vs);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
@@ -690,12 +709,24 @@ void hugeSceneGrowthTest()
|
||||
Ptr<Scene> scene = makeRepeatableScene(frameSize, intrIntegrate, depthFactor);
|
||||
std::vector<Affine3f> poses = scene->getPoses();
|
||||
|
||||
const bool isColor = (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF);
|
||||
|
||||
// this should exceed the standard size of 8192 volume units
|
||||
// to grow volume more, use more poses
|
||||
Mat depth = scene->depth(poses[0]);
|
||||
UMat udepth;
|
||||
depth.copyTo(udepth);
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
if (isColor)
|
||||
{
|
||||
Mat rgb = scene->rgb(poses[0]);
|
||||
UMat urgb;
|
||||
rgb.copyTo(urgb);
|
||||
volume.integrate(udepth, urgb, poses[0].matrix);
|
||||
}
|
||||
else
|
||||
{
|
||||
volume.integrate(udepth, poses[0].matrix);
|
||||
}
|
||||
if (cvtest::debugLevel > 0)
|
||||
{
|
||||
debugVolumeDraw(volume, poses[0], depth, depthFactor, "pts.obj");
|
||||
@@ -769,18 +800,18 @@ static Mat normalsError(Mat srcNormals, Mat dstNormals)
|
||||
return Mat();
|
||||
}
|
||||
|
||||
void regressionVolPoseRot()
|
||||
void regressionVolPoseRot(VolumeType volumeType)
|
||||
{
|
||||
// Make 2 volumes which differ only in their pose (especially rotation)
|
||||
VolumeSettings vs(VolumeType::HashTSDF);
|
||||
Volume volume0(VolumeType::HashTSDF, vs);
|
||||
VolumeSettings vs(volumeType);
|
||||
Volume volume0(volumeType, vs);
|
||||
|
||||
VolumeSettings vsRot(vs);
|
||||
Matx44f pose;
|
||||
vsRot.getVolumePose(pose);
|
||||
pose = Affine3f(Vec3f(1, 1, 1), Vec3f()).matrix;
|
||||
vsRot.setVolumePose(pose);
|
||||
Volume volumeRot(VolumeType::HashTSDF, vsRot);
|
||||
Volume volumeRot(volumeType, vsRot);
|
||||
|
||||
Size frameSize(vs.getRaycastWidth(), vs.getRaycastHeight());
|
||||
Matx33f intrIntegrate, intrRaycast;
|
||||
@@ -796,8 +827,20 @@ void regressionVolPoseRot()
|
||||
UMat udepth;
|
||||
depth.copyTo(udepth);
|
||||
|
||||
volume0.integrate(udepth, poses[0].matrix);
|
||||
volumeRot.integrate(udepth, poses[0].matrix);
|
||||
const bool isColor = (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF);
|
||||
UMat urgb;
|
||||
if (isColor)
|
||||
{
|
||||
Mat rgb = scene->rgb(poses[0]);
|
||||
rgb.copyTo(urgb);
|
||||
volume0.integrate(udepth, urgb, poses[0].matrix);
|
||||
volumeRot.integrate(udepth, urgb, poses[0].matrix);
|
||||
}
|
||||
else
|
||||
{
|
||||
volume0.integrate(udepth, poses[0].matrix);
|
||||
volumeRot.integrate(udepth, poses[0].matrix);
|
||||
}
|
||||
|
||||
UMat upts, unrm, uptsRot, unrmRot;
|
||||
|
||||
@@ -875,15 +918,15 @@ namespace
|
||||
{
|
||||
struct VolumeTypeEnum
|
||||
{
|
||||
static const std::array<VolumeType, 3> vals;
|
||||
static const std::array<std::string, 3> svals;
|
||||
static const std::array<VolumeType, 4> vals;
|
||||
static const std::array<std::string, 4> svals;
|
||||
|
||||
VolumeTypeEnum(VolumeType v = VolumeType::TSDF) : val(v) {}
|
||||
operator VolumeType() const { return val; }
|
||||
void PrintTo(std::ostream *os) const
|
||||
{
|
||||
int v = int(val);
|
||||
if (v >= 0 && v < 3)
|
||||
if (v >= 0 && v < 4)
|
||||
{
|
||||
*os << svals[v];
|
||||
}
|
||||
@@ -894,14 +937,24 @@ namespace
|
||||
}
|
||||
static ::testing::internal::ParamGenerator<VolumeTypeEnum> all()
|
||||
{
|
||||
return ::testing::Values(VolumeTypeEnum(vals[0]), VolumeTypeEnum(vals[1]), VolumeTypeEnum(vals[2]));
|
||||
return ::testing::Values(VolumeTypeEnum(vals[0]), VolumeTypeEnum(vals[1]), VolumeTypeEnum(vals[2]), VolumeTypeEnum(vals[3]));
|
||||
}
|
||||
|
||||
private:
|
||||
VolumeType val;
|
||||
};
|
||||
const std::array<VolumeType, 3> VolumeTypeEnum::vals{VolumeType::TSDF, VolumeType::HashTSDF, VolumeType::ColorTSDF};
|
||||
const std::array<std::string, 3> VolumeTypeEnum::svals{std::string("TSDF"), std::string("HashTSDF"), std::string("ColorTSDF")};
|
||||
const std::array<VolumeType, 4> VolumeTypeEnum::vals{
|
||||
VolumeType::TSDF,
|
||||
VolumeType::HashTSDF,
|
||||
VolumeType::ColorTSDF,
|
||||
VolumeType::ColorHashTSDF
|
||||
};
|
||||
const std::array<std::string, 4> VolumeTypeEnum::svals{
|
||||
std::string("TSDF"),
|
||||
std::string("HashTSDF"),
|
||||
std::string("ColorTSDF"),
|
||||
std::string("ColorHashTSDF")
|
||||
};
|
||||
|
||||
static inline void PrintTo(const VolumeTypeEnum &t, std::ostream *os) { t.PrintTo(os); }
|
||||
|
||||
@@ -1011,7 +1064,7 @@ protected:
|
||||
|
||||
if (testSrcType == VolumeTestSrcType::MAT)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->integrate(udepth, urgb, poses[0].matrix);
|
||||
else
|
||||
volume->integrate(udepth, poses[0].matrix);
|
||||
@@ -1056,7 +1109,8 @@ void VolumeTestFixture::saveObj(std::string funcName, Mat points, Mat normals)
|
||||
string platformString = gpu ? "GPU" : "CPU";
|
||||
string volumeTypeString = volumeType == VolumeType::TSDF ? "TSDF" :
|
||||
volumeType == VolumeType::HashTSDF ? "HashTSDF" :
|
||||
volumeType == VolumeType::ColorTSDF ? "ColorTSDF" : "";
|
||||
volumeType == VolumeType::ColorTSDF ? "ColorTSDF" :
|
||||
volumeType == VolumeType::ColorHashTSDF ? "ColorHashTSDF" : "";
|
||||
string testSrcTypeString = testSrcType == VolumeTestSrcType::MAT ? "MAT" :
|
||||
testSrcType == VolumeTestSrcType::ODOMETRY_FRAME ? "OFRAME" : "";
|
||||
string frameSizeSpecifiedString = frameSizeSpecified == FrameSizeType::DEFAULT ? "DefaultSize" :
|
||||
@@ -1071,14 +1125,14 @@ void VolumeTestFixture::raycast_test()
|
||||
UMat upoints, unormals, ucolors;
|
||||
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
||||
else
|
||||
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
}
|
||||
else if (frameSizeSpecified == FrameSizeType::DEFAULT)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[0].matrix, upoints, unormals, ucolors);
|
||||
else
|
||||
volume->raycast(poses[0].matrix, upoints, unormals);
|
||||
@@ -1091,7 +1145,7 @@ void VolumeTestFixture::raycast_test()
|
||||
|
||||
if (cvtest::debugLevel > 0)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
displayColorImage(depth, rgb, points, normals, colors, depthFactor, lightPose);
|
||||
else
|
||||
displayImage(depth, points, normals, depthFactor, lightPose);
|
||||
@@ -1146,14 +1200,14 @@ void VolumeTestFixture::valid_points_test()
|
||||
UMat upoints, unormals, ucolors;
|
||||
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals, ucolors);
|
||||
else
|
||||
volume->raycast(poses[0].matrix, frameSize.height, frameSize.width, intrRaycast, upoints, unormals);
|
||||
}
|
||||
else if (frameSizeSpecified == FrameSizeType::DEFAULT)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[0].matrix, upoints, unormals, ucolors);
|
||||
else
|
||||
volume->raycast(poses[0].matrix, upoints, unormals);
|
||||
@@ -1169,7 +1223,7 @@ void VolumeTestFixture::valid_points_test()
|
||||
|
||||
if (cvtest::debugLevel > 0)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
displayColorImage(depth, rgb, points, normals, colors, depthFactor, lightPose);
|
||||
else
|
||||
displayImage(depth, points, normals, depthFactor, lightPose);
|
||||
@@ -1180,14 +1234,14 @@ void VolumeTestFixture::valid_points_test()
|
||||
|
||||
if (frameSizeSpecified == FrameSizeType::CUSTOM)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints2, unormals2, ucolors2);
|
||||
else
|
||||
volume->raycast(poses[17].matrix, frameSize.height, frameSize.width, intrRaycast, upoints2, unormals2);
|
||||
}
|
||||
else
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
volume->raycast(poses[17].matrix, upoints2, unormals2, ucolors2);
|
||||
else
|
||||
volume->raycast(poses[17].matrix, upoints2, unormals2);
|
||||
@@ -1202,7 +1256,7 @@ void VolumeTestFixture::valid_points_test()
|
||||
|
||||
if (cvtest::debugLevel > 0)
|
||||
{
|
||||
if (volumeType == VolumeType::ColorTSDF)
|
||||
if (volumeType == VolumeType::ColorTSDF || volumeType == VolumeType::ColorHashTSDF)
|
||||
displayColorImage(depth, rgb, points2, normals2, colors2, depthFactor, lightPose);
|
||||
else
|
||||
displayImage(depth, points2, normals2, depthFactor, lightPose);
|
||||
@@ -1239,14 +1293,21 @@ TEST_P(VolumeTestFixture, fetch_normals)
|
||||
}
|
||||
|
||||
//TODO: fix it when ColorTSDF gets GPU version
|
||||
INSTANTIATE_TEST_CASE_P(Volume, VolumeTestFixture, /*::testing::Combine(PlatformTypeEnum::all(), VolumeTypeEnum::all())*/
|
||||
::testing::Combine(
|
||||
::testing::Values(PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::HashTSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::HashTSDF}),
|
||||
VolumeTestSrcTypeEnum::all(), FrameSizeTypeEnum::all()));
|
||||
INSTANTIATE_TEST_CASE_P(Volume, VolumeTestFixture,
|
||||
::testing::Combine(
|
||||
::testing::Values(
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::HashTSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorHashTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::HashTSDF}
|
||||
// Note: Color types don't support GPU yet
|
||||
),
|
||||
VolumeTestSrcTypeEnum::all(),
|
||||
FrameSizeTypeEnum::all()
|
||||
)
|
||||
);
|
||||
|
||||
|
||||
class StaticVolumeBoundingBox : public ::testing::TestWithParam<PlatformVolumeType>
|
||||
@@ -1267,27 +1328,33 @@ TEST_P(StaticVolumeBoundingBox, staticBoundingBox)
|
||||
|
||||
//TODO: edit this list when ColorTSDF gets GPU support
|
||||
INSTANTIATE_TEST_CASE_P(Volume, StaticVolumeBoundingBox, ::testing::Values(
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF}));
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::TSDF},
|
||||
PlatformVolumeType {PlatformType::CPU, VolumeType::ColorTSDF},
|
||||
PlatformVolumeType {PlatformType::GPU, VolumeType::TSDF}
|
||||
));
|
||||
|
||||
|
||||
class ReproduceVolPoseRotTest : public ::testing::TestWithParam<PlatformTypeEnum>
|
||||
class ReproduceVolPoseRotTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, VolumeTypeEnum>>
|
||||
{ };
|
||||
|
||||
TEST_P(ReproduceVolPoseRotTest, reproduce_volPoseRot)
|
||||
{
|
||||
bool gpu = (GetParam() == PlatformType::GPU);
|
||||
auto p = GetParam();
|
||||
bool gpu = (std::get<0>(p) == PlatformType::GPU);
|
||||
VolumeType volumeType = std::get<1>(p);
|
||||
|
||||
OpenCLStatusRevert oclStatus;
|
||||
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
|
||||
regressionVolPoseRot();
|
||||
regressionVolPoseRot(volumeType);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(Volume, ReproduceVolPoseRotTest, PlatformTypeEnum::all());
|
||||
INSTANTIATE_TEST_CASE_P(Volume, ReproduceVolPoseRotTest,
|
||||
::testing::Combine(PlatformTypeEnum::all(),
|
||||
::testing::Values(VolumeTypeEnum(VolumeType::HashTSDF),
|
||||
VolumeTypeEnum(VolumeType::ColorHashTSDF))));
|
||||
|
||||
|
||||
enum Growth
|
||||
@@ -1296,7 +1363,7 @@ enum Growth
|
||||
};
|
||||
CV_ENUM(GrowthEnum, Growth::OFF, Growth::ON);
|
||||
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, GrowthEnum>>
|
||||
class BoundingBoxEnableGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, GrowthEnum, VolumeTypeEnum>>
|
||||
{ };
|
||||
|
||||
TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
|
||||
@@ -1304,35 +1371,43 @@ TEST_P(BoundingBoxEnableGrowthTest, boundingBoxEnableGrowth)
|
||||
auto p = GetParam();
|
||||
bool gpu = (std::get<0>(p) == PlatformType::GPU);
|
||||
bool enableGrowth = (std::get<1>(p) == Growth::ON);
|
||||
VolumeType volumeType = std::get<2>(p);
|
||||
|
||||
OpenCLStatusRevert oclStatus;
|
||||
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
|
||||
boundingBoxGrowthTest(enableGrowth);
|
||||
boundingBoxGrowthTest(volumeType, enableGrowth);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(Volume, BoundingBoxEnableGrowthTest, ::testing::Combine(PlatformTypeEnum::all(), GrowthEnum::all()));
|
||||
INSTANTIATE_TEST_CASE_P(Volume, BoundingBoxEnableGrowthTest,
|
||||
::testing::Combine(PlatformTypeEnum::all(), GrowthEnum::all(),
|
||||
::testing::Values(VolumeTypeEnum(VolumeType::HashTSDF),
|
||||
VolumeTypeEnum(VolumeType::ColorHashTSDF))));
|
||||
|
||||
|
||||
class HugeSceneGrowthTest : public ::testing::TestWithParam<PlatformTypeEnum>
|
||||
class HugeSceneGrowthTest : public ::testing::TestWithParam<std::tuple<PlatformTypeEnum, VolumeTypeEnum>>
|
||||
{ };
|
||||
|
||||
TEST_P(HugeSceneGrowthTest, boundingBoxEnableGrowth)
|
||||
{
|
||||
auto p = GetParam();
|
||||
bool gpu = (p == PlatformType::GPU);
|
||||
bool gpu = (std::get<0>(p) == PlatformType::GPU);
|
||||
VolumeType volumeType = std::get<1>(p);
|
||||
|
||||
OpenCLStatusRevert oclStatus;
|
||||
|
||||
if (!gpu)
|
||||
oclStatus.off();
|
||||
|
||||
hugeSceneGrowthTest();
|
||||
hugeSceneGrowthTest(volumeType);
|
||||
}
|
||||
|
||||
INSTANTIATE_TEST_CASE_P(Volume, HugeSceneGrowthTest, PlatformTypeEnum::all());
|
||||
INSTANTIATE_TEST_CASE_P(Volume, HugeSceneGrowthTest,
|
||||
::testing::Combine(PlatformTypeEnum::all(),
|
||||
::testing::Values(VolumeTypeEnum(VolumeType::HashTSDF),
|
||||
VolumeTypeEnum(VolumeType::ColorHashTSDF))));
|
||||
|
||||
}
|
||||
} // namespace
|
||||
|
||||
Reference in New Issue
Block a user