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Merge pull request #21439 from DumDereDum:python_odometry

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Odometry python support
This commit is contained in:
Artem Saratovtsev
2022-02-07 19:16:17 +03:00
committed by GitHub
parent 0a0714bd1b
commit 4ba2b05df8
9 changed files with 330 additions and 42 deletions
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modules/3d/misc/python/test/test_odometry.py
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#!/usr/bin/env python
import numpy as np
import cv2 as cv
from tests_common import NewOpenCVTests
class odometry_test(NewOpenCVTests):
def test_OdometryDefault(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))
odometry = cv.Odometry()
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
def test_OdometryDepth(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))
odometry = cv.Odometry(cv.DEPTH)
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, warped_depth, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
def test_OdometryRGB(self):
rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
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))
odometry = cv.Odometry(cv.RGB)
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(rgb, warped_rgb, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
def test_OdometryRGB_Depth(self):
depth = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH).astype(np.float32)
rgb = self.get_sample('cv/rgbd/rgb.png', cv.IMREAD_ANYCOLOR)
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))
odometry = cv.Odometry(cv.RGB_DEPTH)
warped_depth = cv.warpPerspective(depth, Rt_warp, (640, 480))
warped_rgb = cv.warpPerspective(rgb, Rt_warp, (640, 480))
isCorrect = odometry.compute(depth, rgb, warped_depth, warped_rgb, Rt_res)
res = np.absolute(Rt_curr - Rt_res).sum()
eps = 0.15
self.assertLessEqual(res, eps)
self.assertTrue(isCorrect)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()