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python Odometry scale test removed
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@ -108,36 +108,5 @@ class odometry_test(NewOpenCVTests):
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self.assertLessEqual(res, eps)
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self.assertLessEqual(res, eps)
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self.assertTrue(isCorrect)
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self.assertTrue(isCorrect)
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def test_OdometryScale(self):
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depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
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radian = np.radians(1)
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Rt_warp = np.array(
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[[np.cos(radian), -np.sin(radian), 0],
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[np.sin(radian), np.cos(radian), 0],
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[0, 0, 1]], dtype=np.float32
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)
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Rt_curr = np.array(
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[[np.cos(radian), -np.sin(radian), 0, 0],
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[np.sin(radian), np.cos(radian), 0, 0],
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[0, 0, 1, 0],
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[0, 0, 0, 1]], dtype=np.float32
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)
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Rt_res = np.zeros((4, 4))
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scale = 1.01
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scale_res = np.zeros((1, 1))
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odometry = cv.Odometry()
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warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
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isCorrect = odometry.compute(depth, warped_depth*scale, Rt_res, scale_res)
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Rt_diff = np.absolute(Rt_curr - Rt_res).sum()
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scale_diff = np.absolute(scale - scale_res[0][0])
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Rt_eps = 0.2
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scale_eps = 0.1
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self.assertLessEqual(Rt_diff, Rt_eps)
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self.assertLessEqual(scale_diff, scale_eps)
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self.assertTrue(isCorrect)
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if __name__ == '__main__':
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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NewOpenCVTests.bootstrap()
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