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#!/usr/bin/env python
#
# Software License Agreement (BSD License)
#
# Copyright (c) 2009, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rosunit
import subprocess
import unittest
import os
from camera_calibration_parsers import readCalibration
class TestParser(unittest.TestCase):
def test_ini(self):
for files in [('calib5.ini', 'calib5.yaml'), ('calib8.ini', 'calib8.yaml')]:
for dir in [ '', './']:
p = subprocess.Popen('rosrun camera_calibration_parsers convert $(rospack find camera_calibration_parsers)/test/%s %s%s' % (files[0], dir, files[1]), shell=True, stderr=subprocess.PIPE)
out, err = p.communicate()
self.assertEqual(err, b'')
def test_readCalibration(self):
script_dir = os.path.dirname(os.path.realpath(__file__))
camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib5.ini'))
self.assertEqual(camera_name, 'mono_left')
self.assertEqual(camera_info.height, 480)
self.assertEqual(camera_info.width, 640)
self.assertEqual(camera_info.P[0], 262.927429)
camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib8.ini'))
self.assertEqual(camera_info.distortion_model, 'rational_polynomial')
if __name__ == '__main__':
rosunit.unitrun('camera_calibration_parsers', 'parser', TestParser)
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