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TSDF.valid_points test fails on ARM64 #2818
Description
System information (version)
- OpenCV => 4.5.1-pre ( contrib master: 768ad92 )
- Operating System / Platform => Ubuntu 20.04, arm64-v8a
- Compiler => GCC 9.3
Hardware:
-- CPU/HW features:
-- Baseline: NEON FP16
Detailed description
[ RUN ] TSDF.valid_points
/home/opencv-cn/slave/workspace/experimental/contrib-ubuntu-20.04-arm64@2/opencv_contrib/modules/rgbd/test/test_tsdf.cpp:470: Failure
Expected: (0.5 - percentValidity) < (0.3), actual: nan vs 0.3
[ FAILED ] TSDF.valid_points (33 ms)
Steps to reproduce
Issue submission checklist
- I report the issue, it's not a question
- I checked the problem with documentation, FAQ, open issues,
answers.opencv.org, Stack Overflow, etc and have not found solution - I updated to latest OpenCV version and the issue is still there
- There is reproducer code and related data files: videos, images, onnx, etc
Activity
tomoaki0705 commentedon Jan 24, 2021
Hi. I hit this issue.
I can confirm that if we disable the universal intrinsic, this test passes.
This mean that the cause of this failure exists somewhere in here
The
nancomes from hereopencv_contrib/modules/rgbd/test/test_tsdf.cpp
Line 444 in 10bfd2d
where
pointsare totally 0, soanfasresults as 0.The
pointsis filled with+infinitywhich are totally replaced to 0 inpatchNaNsaboveopencv_contrib/modules/rgbd/test/test_tsdf.cpp
Line 443 in 10bfd2d
For quick fix, we can disable the universal intrinsic by modifying this line to
opencv_contrib/modules/rgbd/src/tsdf.cpp
Line 361 in 10bfd2d