def test_undistort_static_radtan():
image = imread(DATA_DIR / "static-cam0-98.png")
expected = imread(DATA_DIR / "static-cam0-98-undistorted-radtan.png")
intrinsics_file = DATA_DIR / "camchain-static-radtan.yaml"
cam = CameraIntrinsics.from_kalibr_yaml(intrinsics_file, "cam0")
actual = cam.get_undistorter(extent=ImageExtent.OnlyValid).undistort_image(image)
assert np.allclose(actual, expected)
def test_camera_intrinsics_omni():
cam = CameraIntrinsics.from_kalibr_yaml(camchain, "cam1")
assert cam.model == CameraModel.Omni
assert np.allclose(cam.intrinsics,
[0.80065662, 833.006, 830.345, 373.850, 253.749])
with pytest.raises(NotImplementedError):
cam.intrinsic_matrix
assert cam.distortion_model == DistortionModel.RadTan
assert np.allclose(cam.distortion_coeffs,
[-0.33518750, 0.13211436, 0.00055967, 0.00057686])
assert cam.width == 752
assert cam.height == 480
def test_camera_intrinsics_file(camchain_path):
cam = CameraIntrinsics.from_kalibr_yaml(camchain_path.open(), "cam0")
_check_cam0(cam)
def test_camera_intrinsics_only():
camchain_first = "\n".join(camchain.splitlines()[:13])
cam = CameraIntrinsics.from_kalibr_yaml(camchain_first)
_check_cam0(cam)
def test_camera_intrinsics_cam0():
cam = CameraIntrinsics.from_kalibr_yaml(camchain, "cam0")
_check_cam0(cam)
def test_load_empty_file(tmp_path, content):
file = tmp_path / "temp"
file.write_text(content)
with pytest.raises(ValueError):
CameraIntrinsics.from_kalibr_yaml(file)
def test_load_empty_stirng():
with pytest.raises(ValueError):
CameraIntrinsics.from_kalibr_yaml("")