def test_depth_to_point_cloud(depth_frame, expected):
height, width = depth_frame.shape
camera_setup = CameraSetup('test_setup',
'test_type',
width,
height,
Transform(location=Location(0, 0, 0),
rotation=Rotation(0, 0, 0)),
fov=90)
depth_frame = DepthFrame(depth_frame, camera_setup)
# Resulting unreal coordinates.
point_cloud = depth_frame.as_point_cloud()
for i in range(width * height):
assert np.isclose(point_cloud[i].x, expected[i].x), 'Returned x '
'value is not the same as expected'
assert np.isclose(point_cloud[i].y, expected[i].y), 'Returned y '
'value is not the same as expected'
assert np.isclose(point_cloud[i].z, expected[i].z), 'Returned z '
'value is not the same as expected'
def test_depth_to_point_cloud(depth_frame, expected):
height, width = depth_frame.shape
camera_setup = CameraSetup('test_setup',
'sensor.camera.depth',
width,
height,
Transform(location=Location(0, 0, 0),
rotation=Rotation(0, 0, 0)),
fov=90)
depth_frame = DepthFrame(depth_frame, camera_setup)
# Resulting unreal coordinates.
point_cloud = depth_frame.as_point_cloud()
for i in range(width * height):
assert np.isclose(point_cloud[i][0], expected[i][0]), \
'Returned x value is not the same as expected'
assert np.isclose(point_cloud[i][1], expected[i][1]), \
'Returned y value is not the same as expected'
assert np.isclose(point_cloud[i][2], expected[i][2]), \
'Returned z value is not the same as expected'