diff --git a/samples/python/odometry.py b/samples/python/odometry.py index cf9808c379..84ec31fea2 100644 --- a/samples/python/odometry.py +++ b/samples/python/odometry.py @@ -35,7 +35,7 @@ def main(): args = parser.parse_args() - if args.algo == "RGB_DEPTH" or args.algo == "DEPTH" or args.algo == "SCALE" or args.algo == "": + if args.algo == "RGB_DEPTH" or args.algo == "DEPTH" or args.algo == "": source_depth_frame = cv.samples.findFile(args.source_depth_frame) destination_depth_frame = cv.samples.findFile(args.destination_depth_frame) depth1 = cv.imread(source_depth_frame, cv.IMREAD_ANYDEPTH).astype(np.float32) @@ -62,13 +62,6 @@ def main(): Rt = np.zeros((4, 4)) odometry.compute(depth1, rgb1, depth2, rgb2, Rt) print("Rt:\n {}".format(Rt)) - if args.algo == "SCALE" or args.algo == "": - print(args.algo) - odometry = cv.Odometry() - Rt = np.zeros((4, 4)) - scale = np.zeros((1, 1)) - odometry.compute(depth1, depth2*1.05, Rt, scale) - print("Rt:\n {}\nScale: {}".format(Rt, scale)) if __name__ == '__main__':