test_calibration_data.py
Go to the documentation of this file.00001 #!/usr/bin/env python 00002 ################################################################# 00003 ##\file 00004 # 00005 # \note 00006 # Copyright (c) 2011-2012 \n 00007 # Fraunhofer Institute for Manufacturing Engineering 00008 # and Automation (IPA) \n\n 00009 # 00010 ################################################################# 00011 # 00012 # \note 00013 # Project name: care-o-bot 00014 # \note 00015 # ROS stack name: cob_calibration 00016 # \note 00017 # ROS package name: cob_camera_calibration 00018 # 00019 # \author 00020 # Author: Sebastian Haug, email:sebhaug@gmail.com 00021 # \author 00022 # Supervised by: Florian Weisshardt, email:florian.weisshardt@ipa.fhg.de 00023 # 00024 # \date Date of creation: November 2011 00025 # 00026 ################################################################# 00027 # 00028 # Redistribution and use in source and binary forms, with or without 00029 # modification, are permitted provided that the following conditions are met: 00030 # 00031 # - Redistributions of source code must retain the above copyright 00032 # notice, this list of conditions and the following disclaimer. \n 00033 # - Redistributions in binary form must reproduce the above copyright 00034 # notice, this list of conditions and the following disclaimer in the 00035 # documentation and/or other materials provided with the distribution. \n 00036 # - Neither the name of the Fraunhofer Institute for Manufacturing 00037 # Engineering and Automation (IPA) nor the names of its 00038 # contributors may be used to endorse or promote products derived from 00039 # this software without specific prior written permission. \n 00040 # 00041 # This program is free software: you can redistribute it and/or modify 00042 # it under the terms of the GNU Lesser General Public License LGPL as 00043 # published by the Free Software Foundation, either version 3 of the 00044 # License, or (at your option) any later version. 00045 # 00046 # This program is distributed in the hope that it will be useful, 00047 # but WITHOUT ANY WARRANTY; without even the implied warranty of 00048 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00049 # GNU Lesser General Public License LGPL for more details. 00050 # 00051 # You should have received a copy of the GNU Lesser General Public 00052 # License LGPL along with this program. 00053 # If not, see <http://www.gnu.org/licenses/>. 00054 # 00055 ################################################################# 00056 PKG = 'cob_camera_calibration' 00057 import roslib; roslib.load_manifest(PKG) 00058 import unittest 00059 00060 from cob_camera_calibration import CalibrationData 00061 00062 TEST_FILE = "test/data/calibration_data.yaml" 00063 TEST_OUT = "/tmp/calibration_data.yaml" 00064 00065 class TestCalibrationData(unittest.TestCase): 00066 def test_read(self): 00067 data = CalibrationData("camera", "frame", "image_width", "image_height") 00068 data.read_camera_yaml_file(TEST_FILE) 00069 00070 def test_read_write(self): 00071 data = CalibrationData("camera", "frame", "image_width", "image_height") 00072 data.read_camera_yaml_file(TEST_FILE) 00073 data.save_camera_yaml_file(TEST_OUT) 00074 00075 # compare with correct results 00076 self.assertTrue(self._cmp_files(TEST_FILE, TEST_OUT)) 00077 00078 def _cmp_files(self, f1, f2): 00079 return open(f1).read() == open(f2).read() 00080 00081 if __name__ == '__main__': 00082 import rostest 00083 rostest.rosrun(PKG, 'TestCalibrationData', TestCalibrationData)