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'