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 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 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)