def test_sparse_stereo(self): left = Image.new("L", (640,480)) circle(left, 320, 200, 4, 255) for disparity in range(20): right = Image.new("L", (640,480)) circle(right, 320 - disparity, 200, 4, 255) sf = SparseStereoFrame(left, right) self.assertAlmostEqual(sf.lookup_disparity(320,200), disparity, 0)
def test_sparse_stereo(self): left = Image.new("L", (640, 480)) circle(left, 320, 200, 4, 255) for disparity in range(20): right = Image.new("L", (640, 480)) circle(right, 320 - disparity, 200, 4, 255) sf = SparseStereoFrame(left, right) self.assertAlmostEqual(sf.lookup_disparity(320, 200), disparity, 0)
imD = [ Image.open("/tmp/out%06d-x.tiff" % fn), Image.open("/tmp/out%06d-y.tiff" % fn), Image.open("/tmp/out%06d-z.tiff" % fn) ] if 0: imL, imR = imR, imL imL = imL.transpose(Image.FLIP_LEFT_RIGHT) imR = imR.transpose(Image.FLIP_LEFT_RIGHT) for i in range(3): imD[i] = imD[i].transpose(Image.FLIP_LEFT_RIGHT) if evaluate_disparity: f0 = MagicStereoFrame(imgStereo(imL), imgStereo(imR), imD, stereo_cam) f1 = SparseStereoFrame(imgStereo(imL), imgStereo(imR)) vos[0].find_keypoints(f0) pairs = [(f0.lookup_disparity(x, y), f1.lookup_disparity(x, y)) for (x, y) in f0.kp2d] disparities += [(a, b) for (a, b) in pairs if b != None] else: for j, vo in enumerate(vos): if use_magic_disparity: f = MagicStereoFrame(imgStereo(imL), imgStereo(imR), imD, stereo_cam) else: f = SparseStereoFrame(imgStereo(imL), imgStereo(imR)) #f = PhonyFrame(~desired_pose, stereo_cam) #vo.lock_handle_frame(f) if j == 0: if (i % 1) == 0: