test_calibration_object.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 import numpy as np 00061 import cv2 00062 from cob_camera_calibration import Checkerboard 00063 00064 class TestCalibrationObject(unittest.TestCase): 00065 def test_checkerboard_object_points_2x2(self): 00066 c = Checkerboard((2,2), 1) 00067 points = c.get_pattern_points() 00068 points_ = [[0, 0, 0], [1, 0, 0], [0, 1, 0], [1, 1, 0]] 00069 self.assertTrue(np.allclose(points, points_)) 00070 00071 def test_checkerboard_object_points_2x2_scale(self): 00072 c = Checkerboard((2,2), 1.5) 00073 points = c.get_pattern_points() 00074 points_ = [[0, 0, 0], [1.5, 0, 0], [0, 1.5, 0], [1.5, 1.5, 0]] 00075 self.assertTrue(np.allclose(points, points_)) 00076 00077 def test_checkerboard_object_points_4x4(self): 00078 c = Checkerboard((4,4), 1) 00079 points = c.get_pattern_points() 00080 points_ = [[0, 0, 0], [1, 0, 0], [2, 0, 0], [3, 0, 0], 00081 [0, 1, 0], [1, 1, 0], [2, 1, 0], [3, 1, 0], 00082 [0, 2, 0], [1, 2, 0], [2, 2, 0], [3, 2, 0], 00083 [0, 3, 0], [1, 3, 0], [2, 3, 0], [3, 3, 0]] 00084 self.assertTrue(np.allclose(points, points_)) 00085 00086 if __name__ == '__main__': 00087 import rostest 00088 rostest.rosrun(PKG, 'TestCalibrationObject', TestCalibrationObject)