From c12d4c82dfe59e25694c3e71e884600efe573f5f Mon Sep 17 00:00:00 2001 From: Rostislav Vasilikhin Date: Thu, 23 Jun 2022 23:25:30 +0200 Subject: [PATCH] python Odometry scale test removed --- modules/3d/misc/python/test/test_odometry.py | 31 -------------------- 1 file changed, 31 deletions(-) diff --git a/modules/3d/misc/python/test/test_odometry.py b/modules/3d/misc/python/test/test_odometry.py index b961f361fd..cc16725d20 100644 --- a/modules/3d/misc/python/test/test_odometry.py +++ b/modules/3d/misc/python/test/test_odometry.py @@ -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()