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slam VO sample file refactor

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This commit is contained in:
Agrim Rai
2026-07-08 03:14:17 +05:30
parent f552e8ac82
commit 4ef179b4bf
7 changed files with 351 additions and 274 deletions
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modules/ptcloud/test/test_visual_odometry.cpp
+5 -5
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@@ -106,7 +106,7 @@ static Ptr<slam::VisualOdometry> makeOdometry(int nFrames,
detector->frames.push_back(renderFrame(cloud, camCenters[f]));
Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_L2, true);
return slam::VisualOdometry::create(detector, matcher, "", "",
return slam::VisualOdometry::create(detector, matcher,
Mat(cameraMatrix()), noArray(), params);
}
@@ -135,13 +135,13 @@ TEST(SLAM_VisualOdometry, create_validates_arguments)
Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_L2, true);
Mat K(cameraMatrix());
EXPECT_THROW(slam::VisualOdometry::create(Ptr<Feature2D>(), matcher, "", "", K),
EXPECT_THROW(slam::VisualOdometry::create(Ptr<Feature2D>(), matcher, K),
cv::Exception); // null detector
EXPECT_THROW(slam::VisualOdometry::create(detector, Ptr<DescriptorMatcher>(), "", "", K),
EXPECT_THROW(slam::VisualOdometry::create(detector, Ptr<DescriptorMatcher>(), K),
cv::Exception); // null matcher
EXPECT_THROW(slam::VisualOdometry::create(detector, matcher, "", "", Mat()),
EXPECT_THROW(slam::VisualOdometry::create(detector, matcher, Mat()),
cv::Exception); // empty intrinsics
EXPECT_THROW(slam::VisualOdometry::create(detector, matcher, "", "", Mat::eye(2, 2, CV_64F)),
EXPECT_THROW(slam::VisualOdometry::create(detector, matcher, Mat::eye(2, 2, CV_64F)),
cv::Exception); // wrong-size intrinsics
}