def test_set_extrinsics(self):
lidar_1 = Lidar("test")
lidar_1.set_extrinsics()
assert lidar_1.extrinsics == Transform3D()
lidar_2 = Lidar("test")
lidar_2.set_extrinsics(_TRANSLATION, _ROTATION)
assert lidar_2.extrinsics == Transform3D(_TRANSLATION, _ROTATION)
def _load_sensors(calib_path: str) -> Sensors:
try:
import yaml # pylint: disable=import-outside-toplevel
except ModuleNotFoundError as error:
raise ModuleImportError(module_name=error.name,
package_name="pyyaml") from error
sensors = Sensors()
lidar = Lidar("LIDAR")
lidar.set_extrinsics()
sensors.add(lidar)
with open(os.path.join(calib_path, "extrinsics.yaml"),
"r",
encoding="utf-8") as fp:
extrinsics = yaml.load(fp, Loader=yaml.FullLoader)
for camera_calibration_file in glob(os.path.join(calib_path,
"[0-9]*.yaml")):
with open(camera_calibration_file, "r", encoding="utf-8") as fp:
camera_calibration = yaml.load(fp, Loader=yaml.FullLoader)
# camera_calibration_file looks like:
# /path-to-CADC/2018_03_06/calib/00.yaml
camera_name = f"CAM{os.path.splitext(os.path.basename(camera_calibration_file))[0]}"
camera = Camera(camera_name)
camera.description = camera_calibration["camera_name"]
camera.set_extrinsics(matrix=extrinsics[f"T_LIDAR_{camera_name}"])
camera_matrix = camera_calibration["camera_matrix"]["data"]
camera.set_camera_matrix(
matrix=[camera_matrix[:3], camera_matrix[3:6], camera_matrix[6:9]])
distortion = camera_calibration["distortion_coefficients"]["data"]
camera.set_distortion_coefficients(
**dict(zip(("k1", "k2", "p1", "p2", "k3"), distortion)))
sensors.add(camera)
return sensors
def test_dumps(self):
lidar = Lidar("Lidar1")
lidar.set_extrinsics(_TRANSLATION, _ROTATION)
contents = lidar.dumps()
assert contents == _LIDAR_DATA