def test_2d_to_3d_without_target_camera(self, calibration: Calibration):
point = 250.0, 300.0
depth = 250.0
point3d = -154.5365753173828, -26.12171173095703, 250.0
converted = calibration.convert_2d_to_3d(point, depth,
CalibrationType.COLOR)
assert np.allclose(converted, point3d)
def test_2d_to_3d_with_target_camera(self, calibration: Calibration):
point = 250.0, 300.0
depth = 250.0
point3d = -122.29087829589844, -45.17741394042969, 243.19528198242188
converted = calibration.convert_2d_to_3d(point, depth,
CalibrationType.COLOR,
CalibrationType.DEPTH)
assert np.allclose(converted, point3d)
