def test_calibrate_stereo_camera(self):
camera_matrix_left, distcoeffs_left = \
calibrator.calibrate_single_camera(self.left_calibration_video,
"left_k")
camera_matrix_right, distcoeffs_right = \
calibrator.calibrate_single_camera(self.right_calibration_video,
"right_k")
calibrator.calibrate_stereo_camera(self.left_video, self.right_video,
camera_matrix_left, distcoeffs_left,
camera_matrix_right,
distcoeffs_right)
map_1_left = np.load("test_data/map_1_left.npy")
map_2_left = np.load("test_data/map_2_left.npy")
map_1_right = np.load("test_data/map_1_right.npy")
map_2_right = np.load("test_data/map_2_right.npy")
self.assertLessEqual(self._calib_diff(self.map_left_1, map_1_left),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_left_2, map_2_left),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_right_2, map_2_right),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_right_2, map_2_right),
self.max_diff)
def test_calibrate_stereo_camera(self):
camera_matrix_left, distcoeffs_left = \
calibrator.calibrate_single_camera(self.left_calibration_video,
"left_k")
camera_matrix_right, distcoeffs_right = \
calibrator.calibrate_single_camera(self.right_calibration_video,
"right_k")
calibrator.calibrate_stereo_camera(self.left_video, self.right_video,
camera_matrix_left,
distcoeffs_left,
camera_matrix_right,
distcoeffs_right)
map_1_left = np.load("test_data/map_1_left.npy")
map_2_left = np.load("test_data/map_2_left.npy")
map_1_right = np.load("test_data/map_1_right.npy")
map_2_right = np.load("test_data/map_2_right.npy")
self.assertLessEqual(self._calib_diff(self.map_left_1, map_1_left),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_left_2, map_2_left),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_right_2, map_2_right),
self.max_diff)
self.assertLessEqual(self._calib_diff(self.map_right_2, map_2_right),
self.max_diff)
def test_calibrate_single_camera(self):
self.camera_matrix_left, self.distcoeffs_left = \
calibrator.calibrate_single_camera(self.left_calibration_video,
"left_k")
self.camera_matrix_right, self.distcoeffs_right = \
calibrator.calibrate_single_camera(self.right_calibration_video,
"right_k")
actual_camera_params_left = np.load("test_data/left_k.npy")
actual_camera_params_right = np.load("test_data/right_k.npy")
self.assertLessEqual(self._calib_diff(self.camera_params_left,
actual_camera_params_left), self.max_diff)
self.assertLessEqual(self._calib_diff(self.camera_params_right,
actual_camera_params_right), self.max_diff)
def test_calibrate_single_camera(self):
self.camera_matrix_left, self.distcoeffs_left = \
calibrator.calibrate_single_camera(self.left_calibration_video,
"left_k")
self.camera_matrix_right, self.distcoeffs_right = \
calibrator.calibrate_single_camera(self.right_calibration_video,
"right_k")
actual_camera_params_left = np.load("test_data/left_k.npy")
actual_camera_params_right = np.load("test_data/right_k.npy")
self.assertLessEqual(
self._calib_diff(self.camera_params_left,
actual_camera_params_left), self.max_diff)
self.assertLessEqual(
self._calib_diff(self.camera_params_right,
actual_camera_params_right), self.max_diff)
