def test_multiple_boards(self):
small_board = ChessboardInfo()
small_board.n_cols = 5
small_board.n_rows = 4
small_board.dim = 0.025
stereo_cal = StereoCalibrator([board, small_board])
my_archive_name = roslib.packages.find_resource(
'camera_calibration', 'multi_board_calibration.tar.gz')[0]
stereo_cal.do_tarfile_calibration(my_archive_name)
stereo_cal.report()
stereo_cal.ost()
# Check error for big image
archive = tarfile.open(my_archive_name)
l1_big = image_from_archive(archive, "left-0000.png")
r1_big = image_from_archive(archive, "right-0000.png")
epi_big = stereo_cal.epipolar_error_from_images(l1_big, r1_big)
self.assert_(
epi_big < 1.0,
"Epipolar error for large checkerboard > 1.0. Error: %.2f" %
epi_big)
# Small checkerboard has larger error threshold for now
l1_sm = image_from_archive(archive, "left-0012-sm.png")
r1_sm = image_from_archive(archive, "right-0012-sm.png")
epi_sm = stereo_cal.epipolar_error_from_images(l1_sm, r1_sm)
self.assert_(
epi_sm < 2.0,
"Epipolar error for small checkerboard > 2.0. Error: %.2f" %
epi_sm)
def test_multiple_boards(self):
small_board = ChessboardInfo()
small_board.n_cols = 5
small_board.n_rows = 4
small_board.dim = 0.025
stereo_cal = StereoCalibrator([board, small_board])
my_archive_name = roslib.packages.find_resource('camera_calibration', 'multi_board_calibration.tar.gz')[0]
stereo_cal.do_tarfile_calibration(my_archive_name)
stereo_cal.report()
stereo_cal.ost()
# Check error for big image
archive = tarfile.open(my_archive_name)
l1_big = image_from_archive(archive, "left-0000.png")
r1_big = image_from_archive(archive, "right-0000.png")
epi_big = stereo_cal.epipolar_error_from_images(l1_big, r1_big)
self.assert_(epi_big < 1.0, "Epipolar error for large checkerboard > 1.0. Error: %.2f" % epi_big)
# Small checkerboard has larger error threshold for now
l1_sm = image_from_archive(archive, "left-0012-sm.png")
r1_sm = image_from_archive(archive, "right-0012-sm.png")
epi_sm = stereo_cal.epipolar_error_from_images(l1_sm, r1_sm)
self.assert_(epi_sm < 2.0, "Epipolar error for small checkerboard > 2.0. Error: %.2f" % epi_sm)
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)
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)
def test_multiple_boards(self):
small_board = ChessboardInfo()
small_board.n_cols = 5
small_board.n_rows = 4
small_board.dim = 0.025
stereo_cal = StereoCalibrator([board, small_board])
if not os.path.isfile('/tmp/multi_board_calibration.tar.gz'):
url = 'http://download.ros.org/data/camera_calibration/multi_board_calibration.tar.gz'
r = requests.get(url, allow_redirects=True)
with open('/tmp/multi_board_calibration.tar.gz', 'wb') as mcf:
mcf.write(r.content)
my_archive_name = '/tmp/multi_board_calibration.tar.gz'
stereo_cal.do_tarfile_calibration(my_archive_name)
stereo_cal.report()
stereo_cal.ost()
# Check error for big image
archive = tarfile.open(my_archive_name)
l1_big = image_from_archive(archive, "left-0000.png")
r1_big = image_from_archive(archive, "right-0000.png")
epi_big = stereo_cal.epipolar_error_from_images(l1_big, r1_big)
self.assertTrue(
epi_big < 1.0,
"Epipolar error for large checkerboard > 1.0. Error: %.2f" %
epi_big)
# Small checkerboard has larger error threshold for now
l1_sm = image_from_archive(archive, "left-0012-sm.png")
r1_sm = image_from_archive(archive, "right-0012-sm.png")
epi_sm = stereo_cal.epipolar_error_from_images(l1_sm, r1_sm)
self.assertTrue(
epi_sm < 2.0,
"Epipolar error for small checkerboard > 2.0. Error: %.2f" %
epi_sm)
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)
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)
