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python Odometry scale test removed

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This commit is contained in:
Rostislav Vasilikhin 2022-06-23 23:25:30 +02:00
parent bee410c748
commit c12d4c82df
1 changed files with 0 additions and 31 deletions
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31
modules/3d/misc/python/test/test_odometry.py
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@ -108,36 +108,5 @@ class odometry_test(NewOpenCVTests):
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
def test_OdometryScale(self):
depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
radian = np.radians(1)
Rt_warp = np.array(
[[np.cos(radian), -np.sin(radian), 0],
[np.sin(radian), np.cos(radian), 0],
[0, 0, 1]], dtype=np.float32
)
Rt_curr = np.array(
[[np.cos(radian), -np.sin(radian), 0, 0],
[np.sin(radian), np.cos(radian), 0, 0],
[0, 0, 1, 0],
[0, 0, 0, 1]], dtype=np.float32
)
Rt_res = np.zeros((4, 4))
scale = 1.01
scale_res = np.zeros((1, 1))
odometry = cv.Odometry()
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, warped_depth*scale, Rt_res, scale_res)
Rt_diff = np.absolute(Rt_curr - Rt_res).sum()
scale_diff = np.absolute(scale - scale_res[0][0])
Rt_eps = 0.2
scale_eps = 0.1
self.assertLessEqual(Rt_diff, Rt_eps)
self.assertLessEqual(scale_diff, scale_eps)
self.assertTrue(isCorrect)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()