def test_init(self):
cc = ll.CameraCalibrator(9, 6, 'camera_cal/calibration*.jpg')
self.assertEqual(cc.nx, 9, 'nx not initialized')
self.assertEqual(cc.ny, 6, 'ny not initialized')
self.assertEqual(cc.file_template, \
'camera_cal/calibration*.jpg', \
'file_template not initialized')
self.assertIsNone(cc.mtx, 'mtx should initialize to None')
self.assertIsNone(cc.dist, 'dist should initialize to None')
def test_undistort(self):
cc = ll.CameraCalibrator(9, 6, 'camera_cal/calibration*.jpg')
img = cv2.imread('test_images/test1.jpg')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
with self.assertRaises(AssertionError):
undistorted = cc.undistort([])
undistorted = cc.undistort(gray)
self.assertTrue(type(undistorted) is np.ndarray, \
'undistorted image is not a numpy array')
self.assertEqual(gray.shape, undistorted.shape, \
'undistored image is not same dimensions as original')
import numpy as np
import glob
import scipy.misc
import lanelines as ll
# image notes
# cv2.imread() BGR
# mpimg.imread() RGB
# scipy.misc.imread() RGB
# plt.imshow(img) or plt.imshow(img, cmap='gray')
# CamerCalibrator
# use CameraCalibration to read a checkerboard image
# save it as cc_initial_checkerboard_image.jpg
# undistort it and save it as cc_undistored_checkerboard_image.jpg
cc = ll.CameraCalibrator(9, 6, 'camera_cal/calibration*.jpg')
img = scipy.misc.imread('camera_cal/calibration2.jpg')
scipy.misc.imsave('output_images/cc_initial_checkerboard_image.jpg', img)
undistorted = cc.undistort(img)
scipy.misc.imsave('output_images/cc_undistorted_checkerboard_image.jpg', \
undistorted)
# use CameraCalibration to read a road image
# save it as cc_initial_road_image.jpg
# undistort it and save it as cc_undistored_road_image.jpg
img = scipy.misc.imread('test_images/signs_vehicles_xygrad.png')
scipy.misc.imsave('output_images/cc_initial_road_image.jpg', img)
undistorted = cc.undistort(img)
scipy.misc.imsave('output_images/cc_undistorted_road_image.jpg', \
undistorted)
# PerspectiveTransformer
def test_calibrate(self):
cc = ll.CameraCalibrator(9, 6, 'camera_cal/calibration*.jpg')
cc.calibrate()
self.assertIsNotNone(cc.mtx, 'mtx should not be None')
self.assertIsNotNone(cc.dist, 'dist should not be None')