Esempio n. 1
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])

        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)
Esempio n. 2
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])
        
        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])
        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)