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Alexander Smorkalov
fc3803c67b
Dedicated pointcloud module #29224 OpenCV contrib: https://github.com/opencv/opencv_contrib/pull/4134 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
44 lines
1.9 KiB
Python
44 lines
1.9 KiB
Python
#!/usr/bin/env python
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# Python 2/3 compatibility
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from __future__ import print_function
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import os, numpy
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import unittest
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import cv2 as cv
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from tests_common import NewOpenCVTests
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class rgbd_test(NewOpenCVTests):
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def test_computeRgbdPlane(self):
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depth_image = self.get_sample('cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)
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if depth_image is None:
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raise unittest.SkipTest("Missing files with test data")
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K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])
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points3d = cv.depthTo3d(depth_image, K)
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normals = cv.RgbdNormals_create(480, 640, cv.CV_32F, K).apply(points3d)
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_, planes_coeff = cv.findPlanes(points3d, normals, numpy.array([]), numpy.array([]), 40, 1600, 0.01, 0, 0, 0, cv.RGBD_PLANE_METHOD_DEFAULT)
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planes_coeff_expected = \
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numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182, 4.02800846]],
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[[-0.05055107, -0.86144137, -0.50533485, 3.95456314]],
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[[-0.03294908, -0.86964548, -0.49257591, 3.97052431]],
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[[-0.02886586, -0.87153459, -0.48948362, 7.77550507]],
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[[-0.04455929, -0.87659335, -0.47916424, 3.93200684]],
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[[-0.21514639, 0.18835169, -0.95824611, 7.59479475]],
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[[-0.01006953, -0.86679155, -0.49856904, 4.01355648]],
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[[-0.00876531, -0.87571168, -0.48275498, 3.96768975]],
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[[-0.06395926, -0.86951321, -0.48975089, 4.08618736]],
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[[-0.01403128, -0.87593341, -0.48222789, 7.74559402]],
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[[-0.01143177, -0.87495202, -0.4840748 , 7.75355816]]],
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dtype=numpy.float32)
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eps = 0.05
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self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)
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if __name__ == '__main__':
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NewOpenCVTests.bootstrap()
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