def test_sparse_stereo(self):
left = Image.new("L", (640,480))
circle(left, 320, 200, 4, 255)
for disparity in range(20):
right = Image.new("L", (640,480))
circle(right, 320 - disparity, 200, 4, 255)
sf = SparseStereoFrame(left, right)
self.assertAlmostEqual(sf.lookup_disparity(320,200), disparity, 0)
def test_sparse_stereo(self):
left = Image.new("L", (640, 480))
circle(left, 320, 200, 4, 255)
for disparity in range(20):
right = Image.new("L", (640, 480))
circle(right, 320 - disparity, 200, 4, 255)
sf = SparseStereoFrame(left, right)
self.assertAlmostEqual(sf.lookup_disparity(320, 200), disparity, 0)
imD = [
Image.open("/tmp/out%06d-x.tiff" % fn),
Image.open("/tmp/out%06d-y.tiff" % fn),
Image.open("/tmp/out%06d-z.tiff" % fn)
]
if 0:
imL, imR = imR, imL
imL = imL.transpose(Image.FLIP_LEFT_RIGHT)
imR = imR.transpose(Image.FLIP_LEFT_RIGHT)
for i in range(3):
imD[i] = imD[i].transpose(Image.FLIP_LEFT_RIGHT)
if evaluate_disparity:
f0 = MagicStereoFrame(imgStereo(imL), imgStereo(imR), imD, stereo_cam)
f1 = SparseStereoFrame(imgStereo(imL), imgStereo(imR))
vos[0].find_keypoints(f0)
pairs = [(f0.lookup_disparity(x, y), f1.lookup_disparity(x, y))
for (x, y) in f0.kp2d]
disparities += [(a, b) for (a, b) in pairs if b != None]
else:
for j, vo in enumerate(vos):
if use_magic_disparity:
f = MagicStereoFrame(imgStereo(imL), imgStereo(imR), imD,
stereo_cam)
else:
f = SparseStereoFrame(imgStereo(imL), imgStereo(imR))
#f = PhonyFrame(~desired_pose, stereo_cam)
#vo.lock_handle_frame(f)
if j == 0:
if (i % 1) == 0:
