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'