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#!/usr/bin/env python
# Python 2/3 compatibility
from __future__ import print_function
import os, numpy
import cv2 as cv
from tests_common import NewOpenCVTests
class rgbd_test(NewOpenCVTests):
def test_computeRgbdPlane(self):
depth_image = self.get_sample('/cv/rgbd/depth.png', cv.IMREAD_ANYDEPTH)
if depth_image is None:
raise unittest.SkipTest("Missing files with test data")
K = numpy.array([[525, 0, 320.5], [0, 525, 240.5], [0, 0, 1]])
points3d = cv.rgbd.depthTo3d(depth_image, K)
normals_computer = normals_computer = cv.rgbd.RgbdNormals_create(480, 640, 5, K)
normals = normals_computer.apply(points3d)
rgbd_plane = cv.rgbd.RgbdPlane_create(cv.rgbd.RgbdPlane_RGBD_PLANE_METHOD_DEFAULT, 40, 1600, 0.01, 0, 0, 0)
_, planes_coeff = rgbd_plane.apply(points3d, normals)
planes_coeff_expected = \
numpy.asarray([[[-0.02447728, -0.8678335 , -0.49625182, 4.02800846]],
[[-0.05055107, -0.86144137, -0.50533485, 3.95456314]],
[[-0.03294908, -0.86964548, -0.49257591, 3.97052431]],
[[-0.02886586, -0.87153459, -0.48948362, 7.77550507]],
[[-0.04455929, -0.87659335, -0.47916424, 3.93200684]],
[[-0.21514639, 0.18835169, -0.95824611, 7.59479475]],
[[-0.01006953, -0.86679155, -0.49856904, 4.01355648]],
[[-0.00876531, -0.87571168, -0.48275498, 3.96768975]],
[[-0.06395926, -0.86951321, -0.48975089, 4.08618736]],
[[-0.01403128, -0.87593341, -0.48222789, 7.74559402]],
[[-0.01143177, -0.87495202, -0.4840748 , 7.75355816]]],
dtype=numpy.float32)
eps = 0.05
self.assertLessEqual(cv.norm(planes_coeff, planes_coeff_expected, cv.NORM_L2), eps)
if __name__ == '__main__':
NewOpenCVTests.bootstrap()
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