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more scale stuff removed

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This commit is contained in:
Rostislav Vasilikhin 2022-06-23 23:53:57 +02:00
parent 4e1ce3e0eb
commit bf8f7b4e57
1 changed files with 3 additions and 6 deletions
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9
modules/3d/test/test_odometry.cpp
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@ -124,13 +124,11 @@ public:
OdometryAlgoType _algtype, OdometryAlgoType _algtype,
double _maxError1, double _maxError1,
double _maxError5, double _maxError5,
bool _testScale = false,
double _idError = DBL_EPSILON) : double _idError = DBL_EPSILON) :
otype(_otype), otype(_otype),
algtype(_algtype), algtype(_algtype),
maxError1(_maxError1), maxError1(_maxError1),
maxError5(_maxError5), maxError5(_maxError5),
testScale(_testScale),
idError(_idError) idError(_idError)
{ } { }
@ -175,7 +173,7 @@ void OdometryTest::readData(Mat& image, Mat& depth) const
} }
if(depth.empty()) if(depth.empty())
{ {
FAIL() << "Depth" << depthFilename.c_str() << "can not be read" << std::endl; FAIL() << "Depth " << depthFilename.c_str() << "can not be read" << std::endl;
} }
CV_DbgAssert(image.type() == CV_8UC1); CV_DbgAssert(image.type() == CV_8UC1);
@ -263,10 +261,9 @@ void OdometryTest::run()
FAIL() << "Can not find Rt between the same frame" << std::endl; FAIL() << "Can not find Rt between the same frame" << std::endl;
} }
double ndiff = cv::norm(calcRt, Mat::eye(4,4,CV_64FC1)); double ndiff = cv::norm(calcRt, Mat::eye(4,4,CV_64FC1));
float sdiff = abs(scale - 1.f); if (ndiff > idError)
if (ndiff > idError && abs(scale - 1.f) < FLT_EPSILON)
{ {
FAIL() << "Incorrect transformation between the same frame (not the identity matrix), diff = " << ndiff << " sdiff = " << sdiff << std::endl; FAIL() << "Incorrect transformation between the same frame (not the identity matrix), diff = " << ndiff << std::endl;
} }
// 2. Generate random rigid body motion in some ranges several times (iterCount). // 2. Generate random rigid body motion in some ranges several times (iterCount).