def test_ideal2pixels(self):
# Setup
self.data_path = join(test.TEST_DATA_PATH, "calib_data")
images_dir = join(self.data_path, "gimbal_camera")
intrinsics_file = join(self.data_path, "static_camera.yaml")
intrinsics = CameraIntrinsics(intrinsics_file)
chessboard = Chessboard(nb_rows=6, nb_cols=7, square_size=0.29)
self.data = PreprocessData("IMAGES",
images_dir=images_dir,
chessboard=chessboard,
intrinsics=intrinsics)
# Load test image
image_path = join(self.data_path, "static_camera", "img_0.jpg")
image = cv2.imread(image_path)
# cv2.imshow("Image", image)
# cv2.waitKey()
# Detect chessboard corners
chessboard = Chessboard(nb_rows=6, nb_cols=7, square_size=0.29)
corners = chessboard.find_corners(image)
# Convert points from ideal to pixel coordinates
corners_ud = self.data.intrinsics.undistort_points(corners)
self.data.intrinsics.undistort_image(image)
K_new = self.data.intrinsics.K_new
self.data.ideal2pixel(corners_ud, K_new)
def test_undistort_points(self):
# Load corners
img_path = join(self.data_path, "gimbal_camera", "img_0.jpg")
img = cv2.imread(img_path)
chessboard = Chessboard(nb_rows=6, nb_cols=7, square_size=0.29)
corners = chessboard.find_corners(img)
# Undistort points using equidistant distortion model
points = self.intrinsics.undistort_points(corners)
self.assertEqual(len(points), len(corners))
self.assertEqual(points.shape[0], len(corners))
self.assertEqual(points.shape[1], 1)
self.assertEqual(points.shape[2], 2)
def __init__(self, **kwargs):
self.data_path = kwargs.get("data_path")
self.preprocessed = kwargs.get("preprocessed", False)
self.inspect_data = kwargs.get("inspect_data", False)
self.joint_file = kwargs["joint_file"]
if self.preprocessed is False:
self.image_dirs = kwargs["image_dirs"]
self.intrinsic_files = kwargs["intrinsic_files"]
self.chessboard = Chessboard(**kwargs)
else:
self.data_dirs = kwargs["data_dirs"]
self.intrinsic_files = kwargs["intrinsic_files"]
def test_load(self):
# Setup
self.data_path = join(test.TEST_DATA_PATH, "calib_data")
images_dir = join(self.data_path, "gimbal_camera")
intrinsics_file = join(self.data_path, "static_camera.yaml")
intrinsics = CameraIntrinsics(intrinsics_file)
chessboard = Chessboard(nb_rows=6, nb_cols=7, square_size=0.29)
self.data = PreprocessData("IMAGES",
images_dir=images_dir,
chessboard=chessboard,
intrinsics=intrinsics)
# load data
self.data.preprocess()
self.assertTrue(len(self.data.images) > 0)
self.assertTrue(len(self.data.images_ud) > 0)
def __init__(self, intrinsics_file):
self.intrinsics = CameraIntrinsics(intrinsics_file)
# Chessboard
self.chessboard = Chessboard(t_G=np.array([0.3, 0.1, 0.1]),
nb_rows=11,
nb_cols=11,
square_size=0.02)
self.plot_chessboard = PlotChessboard(chessboard=self.chessboard)
# Gimbal
self.gimbal = GimbalModel()
self.gimbal.set_attitude([0.0, 0.0, 0.0])
self.plot_gimbal = PlotGimbal(gimbal=self.gimbal)
# Cameras
self.static_camera = self.setup_static_camera()
self.gimbal_camera = self.setup_gimbal_camera()
def __init__(self, **kwargs):
self.chessboard = kwargs.get("chessboard", Chessboard())