def test_load_calibrations_csv():
"""
Test load_calibrations parsing CSV.
WARNING
Call `test_load_calibrations_str` before
`test_load_calibrations_dict` and before
`test_compute_calibrations`so that the dict can be loaded
rather than manually inputted.
CSV FORMAT
- delimiter: ', '
- no floats, round and convert to int using known precision
- strings in double quotes
e.g. "varname", var[0], var[1], ...\\n
"""
testcalibpath = calibsdir + '/camera_params.csv'
if not os_exists(testcalibpath):
raise RuntimeError('Can\'t find \'%s\'' % testcalibpath)
global cpdict # global for use in other functions
cpdict = {}
# Load params from test
with open(testcalibpath, 'r') as f:
lines = f.read().splitlines()
entries = [line.split(', ') for line in lines]
for c in entries:
name = c[0].replace('\"', '')
if name not in ('cameraMatrix', 'distCoeffs', 'w', 'h'):
warning(
'variable name: \'%s\' not valid calib name' % name
)
continue
if name in ('w', 'h'):
cpdict[name] = int(c[1])
continue
shape = [int(v) for v in c[1].replace('\"', '').split('x')]
data = asarray([int(v) for v in c[2:]]) / 10**4
if name == 'cameraMatrix':
cpdict[name] = reshape(data, shape).astype('float64')
elif name == 'distCoeffs':
cpdict[name] = reshape(data, shape).astype('float64')
else:
raise RuntimeError('Unreachable state!?')
# Test calib loading
calib = CalibratePSEye()
calib.load_calibrations(calibsdir + '/camera_params.csv')
for k in cpdict.keys():
if not array_equal(getattr(calib, k), cpdict[k]):
raise RuntimeError('\'%s\' did not match' % k)
debug('\'%s\' matched' % k)
def test_save_calibrations():
"""
Test save_calibrations.
Loading calibs was already tested above, so can rely on it.
CSV FORMAT
- delimiter: ', '
- no floats, round and convert to int using known precision
- strings in double quotes
e.g. "varname", var[0], var[1], ...\\n
"""
fn_cp = calibsdir + '/camera_params.csv'
if not os_exists(fn_cp):
raise RuntimeError('tests/camera_params.csv could not be found')
# set not to tests/ (`load_calibrations` will do that)
# don't want to overwrite test data
calib1 = CalibratePSEye()
calib1.init_chessboard(p, o)
try:
# Load known calibs and then save
cp = calib1.calibpath
debug('%s' % calib1.calibpath)
calib1.load_calibrations(fn_cp)
calib1.calibpath = cp
calib1.save_calibrations()
if not os_exists(calib1.calibpath):
raise RuntimeError('Failed to create calib path \'%s\''
% calib1.calib_path)
# Compare saving
with open(fn_cp, 'r') as f:
f1 = f.read()
with open(cp+'/camera_params.csv', 'r') as f:
f2 = f.read()
if f1 != f2:
raise RuntimeError('Camera parameter csvs did not match')
# Compare loading
calib2 = CalibratePSEye()
calib2.load_calibrations(calib1.calibpath+'/camera_params.csv')
paramlist = ('cameraMatrix', 'distCoeffs')
for k in paramlist:
k1 = getattr(calib1, k)
k2 = getattr(calib2, k)
if not array_equal(k1, k2):
raise RuntimeError(
'param \'%s\' does not match between calib1 and calib2' % k
)
debug('\'%s\' matched' % k)
finally:
calib1.removepath()
def test_load_calibrations_asserts():
"""
Test load calibrations assertions. This is separate from loading with
str or dict input to avoid duplicate code and unclear asymmetry
"""
calib = CalibratePSEye()
for t in (int, float, complex, list, tuple, range, dict, set,
frozenset, bool, bytes, bytearray, memoryview):
try:
calib.load_calibrations(t)
except TypeError:
debug('Caught \'%s\' calibrations' % t.__name__)
else:
raise RuntimeError('Failed to catch %s calibrations' % t.__name__)
def test_load_calibrations_dict():
"""
Test the loading of a dict of calibration matrices
CSV FORMAT
- delimiter: ', '
- no floats, round and convert to int using known precision
- strings in double quotes
e.g. "varname", var[0], var[1], ...\\n
"""
# raise NotImplementedError
global cpdict
calib = CalibratePSEye()
calib.load_calibrations(cpdict)
for k in cpdict.keys():
if not array_equal(getattr(calib, k), cpdict[k]):
raise RuntimeError('\'%s\' did not match' % k)
debug('\'%s\' matched' % k)
def test_internal_correct_and_save():
"""
Test internal correction saving method.
"""
calib = CalibratePSEye()
fn_c = calibsdir + '/camera_params.csv'
# Asserts
for t in (int, float, complex, list, tuple, range, dict, set,
frozenset, bool, bytes, bytearray, memoryview):
try:
calib.correct_and_save(t)
except TypeError:
pass
else:
raise RuntimeError('Failed to catch %s imgpath' % t.__name__)
calib.load_calibrations(fn_c)
cp = calib.calibpath
calib.calibpath = None
try:
calib.correct_and_save('file-that-does-not-exist')
except RuntimeError:
pass
else:
raise RuntimeError('Failed to catch _calib_path is None')
# Saving
calib.calibpath = cp
imgpath = testdir + '/raw'
storeddir = testdir + '/00000000-000000_undistorted'
storedcp = testdir + '/00000000-000000_camera_params.csv'
if os_exists(storeddir):
rmtree(storeddir)
if os_exists(storedcp):
os_remove(storedcp)
ud1 = calib.correct_and_save(imgpath)
try:
# Proper saving
if not os_exists(storeddir) or not os_exists(storedcp):
raise RuntimeError('Error creating corrected directories')
imgcount1 = len([f for f in listdir(imgpath) if f[-4:].lower() == '.jpg'])
imgcount2 = len([f for f in listdir(storeddir) if f[-4:].lower() == '.jpg'])
if imgcount1 != imgcount2:
raise RuntimeError('Not all images were saved')
# Correct calibration
# Check pre-save equality
imglist = [f for f in listdir(imgpath) if f[-4:].lower() == '.jpg']
rawimg = [cv_imread(imgpath + '/' + f) for f in imglist]
ud2 = calib.correct(rawimg) # will know if `correct` works
if not array_equal(ud1, ud2):
raise RuntimeError('Failed pre-save equality check')
# Check post-save equality
for i in range(len(imglist)):
fnud = storeddir + ('/_f%s' % str(i+1).zfill(5)) + '.jpg'
cv_imwrite(fnud, ud2[i,...], (IMWRITE_JPEG_QUALITY, 100))
ud1list = [cv_imread(storeddir + '/' + f) for f in imglist]
ud2list = [cv_imread(storeddir + '/_' + f) for f in imglist]
ud1reload = asarray(ud1list, dtype='uint8')
ud2reload = asarray(ud2list, dtype='uint8')
if not array_equal(ud1reload, ud2reload):
raise RuntimeError('Failed reload equality check')
finally:
os_remove(storedcp)
rmtree(storeddir)
try:
if os_exists(storedcp):
raise RuntimeError('failed to deleted cameraParams csv')
if os_exists(storeddir):
raise RuntimeError('failed to remove undistored img dir')
except AssertionError:
raise RuntimeError('Exception during test cleanup')
def test_internal_correct():
"""
Test internal correction method.
Discovered this song while debugging this test case on 2020-06-19
https://open.spotify.com/track/5XgYWQKEqSqA5vXJmwZa6n?si=HvcZD32-T2KRspTPcb4uGQ
"""
calib = CalibratePSEye()
calib.load_calibrations(calibsdir + '/camera_params.csv')
# test datatype check
try:
for t in ('uint16', 'uint32', 'uint64', 'int16', 'int32', 'int64',
'float32', 'float64', 'object'):
frames = zeros((240, 320, 3), dtype=t)
calib.correct(frames)
except TypeError:
pass
else:
raise RuntimeError('Failed to catch not-uint8 dtype')
# test size check
try:
frames = zeros((240,320), dtype='uint8')
calib.correct(frames)
except TypeError:
pass
else:
raise RuntimeError('Failed to catch frames too few dimensions')
try:
frames = zeros((240,320,1,1,1), dtype='uint8')
calib.correct(frames)
except TypeError:
pass
else:
raise RuntimeError('Failed to catch frames too many dimensions')
# setup test
frames = []
for f in listdir(testdir+'/raw'):
if f[-4:].lower() == '.jpg':
frames.append(cv_imread(testdir + '/raw/' + f))
fshape = [len(frames)] + list(frames[0].shape)
u1 = zeros(fshape, dtype='uint8')
for i in range(len(frames)):
f = frames[i].copy()
u1[i,...] = undistort(f, calib.cameraMatrix, calib.distCoeffs, None)
# test single frame
u2 = calib.correct(frames[0])
if not array_equal(u1[0,...], u2):
raise RuntimeError('Single-frame undistort/remap is incorrect')
# test several frames
u2 = calib.correct(asarray(frames, dtype='uint8'))
if not array_equal(u1, u2):
raise RuntimeError('Multi-frame ndarray undistort/remap is incorrect')
u2 = calib.correct(frames)
if not array_equal(u1, u2):
raise RuntimeError('Multi-frame list undistort/remap is incorrect')
