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_compute_calibrations():
"""
Test computation to the 4th decimal place on known calibration data.
"""
# Test Asserts
calib = CalibratePSEye()
calib.corners_arr = [1, 2]
calib.objpoints = [1, 2]
calib.w = 320
calib.h = 240
calib.corners_arr = []
try:
calib.compute_calibrations()
except RuntimeError:
pass
else:
raise RuntimeError('Failed to catch len(corners_arr)==0')
calib.corners_arr = [1, 2]
calib.objpoints = []
try:
calib.compute_calibrations()
except RuntimeError:
pass
else:
raise RuntimeError('Failed to catch len(objpoints)==0')
calib.objpoints = [1, 2]
calib.w = None
try:
calib.compute_calibrations()
except RuntimeError:
pass
else:
raise RuntimeError('Failed to catch _w is None')
calib.h = None
calib.w = 320
try:
calib.compute_calibrations()
except RuntimeError:
pass
else:
raise RuntimeError('Failed to catch h is None')
# Test Math
global cpdict
imgpath = testdir + '/raw'
if not os_exists(imgpath):
raise RuntimeError('Could not find imgpath')
calib = CalibratePSEye()
calib.init_chessboard(p, o)
calib.load_calib_imgs(imgpath)
try:
calib.compute_calibrations()
calib.save_calibrations()
for k in cpdict.keys():
k1 = cpdict[k] # already rounded b/c loaded from file
k2 = around(getattr(calib, k), decimals=4)
if not array_equal(k1, k2):
raise RuntimeError('\'%s\' did not match' % k)
debug('\'%s\' matched' % k)
# print(getattr(calib, k))
finally:
calib.removepath()
