def test_undistort_static_radtan():
image = imread(DATA_DIR / "static-cam0-98.png")
expected = imread(DATA_DIR / "static-cam0-98-undistorted-radtan.png")
intrinsics_file = DATA_DIR / "camchain-static-radtan.yaml"
cam = CameraIntrinsics.from_kalibr_yaml(intrinsics_file, "cam0")
actual = cam.get_undistorter(extent=ImageExtent.OnlyValid).undistort_image(image)
assert np.allclose(actual, expected)
def load_chess1():
"""Load OpenCV test data."""
data_dir = Path(__file__).parent / "data"
image = imread(data_dir / "chess1.png")
corners = yaml.load(open(data_dir / "chess_corners1.dat"),
Loader=yaml.SafeLoader)["corners"]
shape = (corners["cols"], corners["rows"])
expected = np.array(corners["data"]).reshape((-1, 2))
return image, shape, expected
def test_imread_invalid(tmp_path):
file = tmp_path.joinpath("temp.png")
file.touch()
with pytest.raises(IOError):
imread(file)
def test_imread():
image = imread(Path(__file__).parent / "data/chess1.png")
assert image.shape == (240, 320)
def test_imread_missing():
with pytest.raises(FileNotFoundError):
imread("missing_file.png")