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 setUp(self):
tar_path = roslib.packages.find_resource('camera_calibration', 'camera_calibration.tar.gz')[0]
self.tar = tarfile.open(tar_path, 'r')
self.limages = [image_from_archive(self.tar, "wide/left%04d.pgm" % i) for i in range(3, 15)]
self.rimages = [image_from_archive(self.tar, "wide/right%04d.pgm" % i) for i in range(3, 15)]
self.l = {}
self.r = {}
self.sizes = [(320,240), (640,480), (800,600), (1024,768)]
for dim in self.sizes:
self.l[dim] = []
self.r[dim] = []
for li,ri in zip(self.limages, self.rimages):
rli = cv2.resize(li, (dim[0], dim[1]))
rri = cv2.resize(ri, (dim[0], dim[1]))
self.l[dim].append(rli)
self.r[dim].append(rri)
def setUp(self):
self.mydir = roslib.packages.get_pkg_dir(PKG)
self.tar = tarfile.open('%s/camera_calibration.tar.gz' % self.mydir, 'r')
self.limages = [image_from_archive(self.tar, "wide/left%04d.pgm" % i) for i in range(3, 15)]
self.rimages = [image_from_archive(self.tar, "wide/right%04d.pgm" % i) for i in range(3, 15)]
self.l = {}
self.r = {}
self.sizes = [(320,240), (640,480), (800,600), (1024,768)]
for dim in self.sizes:
self.l[dim] = []
self.r[dim] = []
for li,ri in zip(self.limages, self.rimages):
rli = cv.CreateMat(dim[1], dim[0], cv.CV_8UC3)
rri = cv.CreateMat(dim[1], dim[0], cv.CV_8UC3)
cv.Resize(li, rli)
cv.Resize(ri, rri)
self.l[dim].append(rli)
self.r[dim].append(rri)
def setUp(self):
tar_path = roslib.packages.find_resource(
'camera_calibration', 'camera_calibration.tar.gz')[0]
self.tar = tarfile.open(tar_path, 'r')
self.limages = [
image_from_archive(self.tar, "wide/left%04d.pgm" % i)
for i in range(3, 15)
]
self.rimages = [
image_from_archive(self.tar, "wide/right%04d.pgm" % i)
for i in range(3, 15)
]
self.l = {}
self.r = {}
self.sizes = [(320, 240), (640, 480), (800, 600), (1024, 768)]
for dim in self.sizes:
self.l[dim] = []
self.r[dim] = []
for li, ri in zip(self.limages, self.rimages):
rli = cv2.resize(li, (dim[0], dim[1]))
rri = cv2.resize(ri, (dim[0], dim[1]))
self.l[dim].append(rli)
self.r[dim].append(rri)
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)
