Beispiel #1
0
    def test_stereo(self):
        for dim in self.sizes:
            print "Dim =", dim
            sc = StereoCalibrator([board], cv2.CALIB_FIX_K3)
            sc.cal(self.l[dim], self.r[dim])

            sc.report()
            #print sc.ost()

            # NOTE: epipolar error currently increases with resolution.
            # At highest res expect error ~0.75
            epierror = sc.epipolar_error_from_images(self.l[dim][0],
                                                     self.r[dim][0])
            print "Epipolar error =", epierror
            self.assert_(epierror < 0.8)

            self.assertAlmostEqual(
                sc.chessboard_size_from_images(self.l[dim][0], self.r[dim][0]),
                .108, 2)

            #print sc.as_message()

            img = self.l[dim][0]
            flat = sc.l.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))
            flat = sc.r.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))

            sc2 = StereoCalibrator([board])
            sc2.from_message(sc.as_message())
            # sc2.set_alpha(1.0)
            #sc2.report()
            self.assert_(len(sc2.ost()) > 0)
Beispiel #2
0
    def test_stereo(self):
        for dim in self.sizes:
            print "Dim =", dim
            sc = StereoCalibrator([board], cv2.CALIB_FIX_K3)
            sc.cal(self.l[dim], self.r[dim])

            sc.report()
            #print sc.ost()

            # NOTE: epipolar error currently increases with resolution.
            # At highest res expect error ~0.75
            epierror = sc.epipolar_error_from_images(self.l[dim][0], self.r[dim][0])
            print "Epipolar error =", epierror
            self.assert_(epierror < 0.8)

            self.assertAlmostEqual(sc.chessboard_size_from_images(self.l[dim][0], self.r[dim][0]), .108, 2)

            #print sc.as_message()

            img = self.l[dim][0]
            flat = sc.l.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))
            flat = sc.r.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))

            sc2 = StereoCalibrator([board])
            sc2.from_message(sc.as_message())
            # sc2.set_alpha(1.0)
            #sc2.report()
            self.assert_(len(sc2.ost()) > 0)
Beispiel #3
0
    def test_stereo(self):
        epierrors = [0.1, 0.2, 0.45, 1.0]
        for i, dim in enumerate(self.sizes):
            print("Dim =", dim)
            sc = StereoCalibrator([board], cv2.CALIB_FIX_K3)
            sc.cal(self.l[dim], self.r[dim])

            sc.report()
            #print sc.ost()

            # NOTE: epipolar error currently increases with resolution.
            # At highest res expect error ~0.75
            epierror = 0
            n = 0
            for l_img, r_img in zip(self.l[dim], self.r[dim]):
                epierror_local = sc.epipolar_error_from_images(l_img, r_img)
                if epierror_local:
                    epierror += epierror_local
                    n += 1
            epierror /= n
            self.assertTrue(
                epierror < epierrors[i],
                'Epipolar error is %f for resolution i = %d' % (epierror, i))

            self.assertAlmostEqual(
                sc.chessboard_size_from_images(self.l[dim][0], self.r[dim][0]),
                .108, 2)

            #print sc.as_message()

            img = self.l[dim][0]
            flat = sc.l.remap(img)
            self.assertEqual(img.shape, flat.shape)
            flat = sc.r.remap(img)
            self.assertEqual(img.shape, flat.shape)

            sc2 = StereoCalibrator([board])
            sc2.from_message(sc.as_message())
            # sc2.set_alpha(1.0)
            #sc2.report()
            self.assertTrue(len(sc2.ost()) > 0)
Beispiel #4
0
    def test_stereo(self):
        epierrors = [0.1, 0.2, 0.4, 1.0]
        for i, dim in enumerate(self.sizes):
            print("Dim =", dim)
            sc = StereoCalibrator([board], cv2.CALIB_FIX_K3)
            sc.cal(self.l[dim], self.r[dim])

            sc.report()
            #print sc.ost()

            # NOTE: epipolar error currently increases with resolution.
            # At highest res expect error ~0.75
            epierror = 0
            n = 0
            for l_img, r_img in zip(self.l[dim], self.r[dim]):
                epierror_local = sc.epipolar_error_from_images(l_img, r_img)
                if epierror_local:
                    epierror += epierror_local
                    n += 1
            epierror /= n
            self.assert_(epierror < epierrors[i], 'Epipolar error is %f for resolution i = %d' % (epierror, i))

            self.assertAlmostEqual(sc.chessboard_size_from_images(self.l[dim][0], self.r[dim][0]), .108, 2)

            #print sc.as_message()

            img = self.l[dim][0]
            flat = sc.l.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))
            flat = sc.r.remap(img)
            self.assertEqual(cv.GetSize(img), cv.GetSize(flat))

            sc2 = StereoCalibrator([board])
            sc2.from_message(sc.as_message())
            # sc2.set_alpha(1.0)
            #sc2.report()
            self.assert_(len(sc2.ost()) > 0)