def test_disparity(self):
stereo.get_stereo_depth(self.left_video, self.right_video, {"frame": -1, "filename": "test_data/pc.ply"})
actual_disparity = cv2.imread("test_data/disparity.jpg")
disparity_diff = cv2.absdiff(actual_disparity, self.expected_disparity)
# The median difference between the expected and actual disparity
# should be less than the specified threshold.
differences = disparity_diff.flatten().tolist()
median_diff = sorted(differences)[len(differences) / 2]
self.assertLessEqual(median_diff, self.max_disparity_diff)
"""Simple demo of the stereo camera code. Creates disparity map in test_data,
point cloud in current directory."""
import stereo_rig_model as stereo
import cv2
if __name__ == '__main__':
lvideo = cv2.VideoCapture('test_data/videos/calibrator/left/%03d.jpeg')
rvideo = cv2.VideoCapture('test_data/videos/calibrator/right/%03d.jpeg')
stereo.get_stereo_depth(lvideo, rvideo, {
'frame': -1,
'filename': 'point_cloud.ply'
})
print 'Wrote point cloud to point_cloud.ply'
print 'Wrote disparity map to test_data/disparity.jpg'
def test_point_cloud(self):
stereo.get_stereo_depth(self.left_video, self.right_video, {"frame": -1, "filename": "test_data/pc.ply"})
self.assertTrue(os.path.exists("test_data/pc.ply"))
self.assertGreater(os.stat("test_data/pc.ply").st_size, 0)
"""Simple demo of the stereo camera code. Creates disparity map in test_data,
point cloud in current directory."""
import stereo_rig_model as stereo
import cv2
if __name__ == '__main__':
lvideo = cv2.VideoCapture('test_data/videos/calibrator/left/%03d.jpeg')
rvideo = cv2.VideoCapture('test_data/videos/calibrator/right/%03d.jpeg')
stereo.get_stereo_depth(lvideo, rvideo,
{'frame': -1, 'filename': 'point_cloud.ply'})
print 'Wrote point cloud to point_cloud.ply'
print 'Wrote disparity map to test_data/disparity.jpg'