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threshold comparison made more obvious

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This commit is contained in:
Rostislav Vasilikhin 2022-07-24 18:27:35 +02:00
parent d4e28f27b7
commit 7bdacb8098
1 changed files with 9 additions and 9 deletions
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18
modules/3d/test/test_odometry.cpp
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@ -565,8 +565,8 @@ TEST_P(WarpFrameInputs, checkTypes)
double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff; double l2threshold = depthType == CV_16U ? shortl2diff : floatl2diff;
double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff; double lithreshold = depthType == CV_16U ? shortlidiff : floatlidiff;
EXPECT_GE(l2threshold, l2diff); EXPECT_LE(l2diff, l2threshold);
EXPECT_GE(lithreshold, lidiff); EXPECT_LE(lidiff, lithreshold);
} }
INSTANTIATE_TEST_CASE_P(RGBD_Odometry, WarpFrameInputs, ::testing::Values( INSTANTIATE_TEST_CASE_P(RGBD_Odometry, WarpFrameInputs, ::testing::Values(
@ -590,7 +590,7 @@ TEST(RGBD_Odometry_WarpFrame, identity)
double depthDiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.dstMask); double depthDiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.dstMask);
ASSERT_GE(DBL_EPSILON, depthDiff); ASSERT_LE(depthDiff, DBL_EPSILON);
} }
TEST(RGBD_Odometry_WarpFrame, noRgb) TEST(RGBD_Odometry_WarpFrame, noRgb)
@ -604,8 +604,8 @@ TEST(RGBD_Odometry_WarpFrame, noRgb)
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask); double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask); double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
ASSERT_GE(0.038209, l2diff); ASSERT_LE(l2diff, 0.038209);
ASSERT_GE(0.00020004, lidiff); ASSERT_LE(lidiff, 0.00020004);
} }
TEST(RGBD_Odometry_WarpFrame, nansAreMasked) TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
@ -622,8 +622,8 @@ TEST(RGBD_Odometry_WarpFrame, nansAreMasked)
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, goodVals); double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, goodVals);
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, goodVals); double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, goodVals);
ASSERT_GE(0.038209, l2diff); ASSERT_LE(l2diff, 0.038209);
ASSERT_GE(0.00020004, lidiff); ASSERT_LE(lidiff, 0.00020004);
} }
TEST(RGBD_Odometry_WarpFrame, bigScale) TEST(RGBD_Odometry_WarpFrame, bigScale)
@ -640,8 +640,8 @@ TEST(RGBD_Odometry_WarpFrame, bigScale)
double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask); double l2diff = cv::norm(w.dstDepth, w.warpedDepth, NORM_L2, w.warpedMask);
double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask); double lidiff = cv::norm(w.dstDepth, w.warpedDepth, NORM_INF, w.warpedMask);
ASSERT_GE(191.026565, l2diff); ASSERT_LE(l2diff, 191.026565);
ASSERT_GE(0.99951172, lidiff); ASSERT_LE(lidiff, 0.99951172);
} }
}} // namespace }} // namespace