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)