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https://github.com/opencv/opencv.git
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8b7e586faa
Complement PR: #3366@contrib
Changes
OdometryFrame losts its getters: a user can provide data at construction stage only, pyramids and other generated data is read-only now
OdometryFrame is based on UMats: no TMat templates inside, CPU operations are done with UMat::getMat() method, chaining issues are solved ad-hoc
No more Odometry::createOdometryFrame() method, frames are compatible with all odometry algorithms
Normals computer is cached inside Odometry and exposed to API as well as its settings
Volume::raycast() won't return the result in OdometryFrame anymore
Added test for Odometry::prepareFrame*() & other test fixes
Minor code improvements
TODOs:
fix TODOs in code
lower acceptable accuracy errors
57 lines
1.8 KiB
Python
57 lines
1.8 KiB
Python
#!/usr/bin/env python
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import numpy as np
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class odometry_test(NewOpenCVTests):
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def commonOdometryTest(self, needRgb, otype):
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depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
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if needRgb:
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rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
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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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if otype is not None:
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odometry = cv.Odometry(otype)
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else:
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odometry = cv.Odometry()
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warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
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if needRgb:
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warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
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isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
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else:
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isCorrect = odometry.compute(depth, warped_depth, Rt_res)
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res = np.absolute(Rt_curr - Rt_res).sum()
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eps = 0.15
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self.assertLessEqual(res, eps)
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self.assertTrue(isCorrect)
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def test_OdometryDefault(self):
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self.commonOdometryTest(False, None)
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def test_OdometryDepth(self):
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self.commonOdometryTest(False, cv.DEPTH)
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def test_OdometryRGB(self):
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self.commonOdometryTest(True, cv.RGB)
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def test_OdometryRGB_Depth(self):
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self.commonOdometryTest(True, cv.RGB_DEPTH)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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