pr2_calibration_estimation: pr2_calibration_estimation: camera

00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
00003 #
00004 # Copyright (c) 2008, Willow Garage, Inc.
00005 # All rights reserved.
00006 #
00007 # Redistribution and use in source and binary forms, with or without
00008 # modification, are permitted provided that the following conditions
00009 # are met:
00010 #
00011 #  * Redistributions of source code must retain the above copyright
00012 #    notice, this list of conditions and the following disclaimer.
00013 #  * Redistributions in binary form must reproduce the above
00014 #    copyright notice, this list of conditions and the following
00015 #    disclaimer in the documentation and/or other materials provided
00016 #    with the distribution.
00017 #  * Neither the name of Willow Garage, Inc. nor the names of its
00018 #    contributors may be used to endorse or promote products derived
00019 #    from this software without specific prior written permission.
00020 #
00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 # POSSIBILITY OF SUCH DAMAGE.
00033 
00034 
00035 import roslib; roslib.load_manifest('pr2_calibration_estimation')
00036 
00037 import sys
00038 import unittest
00039 import rospy
00040 import time
00041 import numpy
00042 
00043 from pr2_calibration_estimation.camera import RectifiedCamera
00044 from numpy import *
00045 
00046 def DefaultParams():
00047     return {'baseline_shift':0,
00048             'f_shift':0,
00049             'cx_shift':0,
00050             'cy_shift':0,
00051             'cov': {'u':0.5, 'v':0.5} }
00052 
00053 class TestRectifiedCamera(unittest.TestCase):
00054 
00055     def test_project_easy_1(self):
00056         cam = RectifiedCamera(DefaultParams())
00057         P_list = [ 1, 0, 0, 0, \
00058                    0, 1, 0, 0, \
00059                    0, 0, 1, 0 ]
00060 
00061         pts = matrix( [ [ 0, 1, 0, 2 ],
00062                         [ 0, 1, 1, 0 ],
00063                         [ 1, 1, 2, 2 ],
00064                         [ 1, 1, 1, 1 ]], float )
00065 
00066         expected = matrix( [ [ 0, 1,  0, 1],
00067                              [ 0, 1, .5, 0] ] )
00068 
00069         result = cam.project(P_list, pts)
00070 
00071         print ""
00072         print result
00073 
00074         self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)
00075 
00076     def test_project_easy_2(self):
00077         cam = RectifiedCamera(DefaultParams())
00078         P_list = [ 1, 0, 0,-1, \
00079                    0, 1, 0, 0, \
00080                    0, 0, 1, 0 ]
00081 
00082         pts = matrix( [ [ 0, 1, 0, 2 ],
00083                         [ 0, 1, 1, 0 ],
00084                         [ 1, 1, 2, 2 ],
00085                         [ 1, 1, 1, 1 ]], float )
00086 
00087         expected = matrix( [ [-1, 0,-.5,.5],
00088                              [ 0, 1, .5, 0] ] )
00089 
00090         result = cam.project(P_list, pts)
00091 
00092         print ""
00093         print result
00094 
00095         self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)
00096 
00097     def test_project_easy_3(self):
00098         cam = RectifiedCamera(DefaultParams())
00099         P_list = [ 1, 0, 0, 0, \
00100                    0, 1, 0, 0, \
00101                    0, 0, 1, 0 ]
00102 
00103         cam.inflate(matrix([-1]))
00104 
00105         pts = matrix( [ [ 0, 1, 0, 2 ],
00106                         [ 0, 1, 1, 0 ],
00107                         [ 1, 1, 2, 2 ],
00108                         [ 1, 1, 1, 1 ]], float )
00109 
00110         expected = matrix( [ [-1, 0,-.5,.5],
00111                              [ 0, 1, .5, 0] ] )
00112 
00113         result = cam.project(P_list, pts)
00114 
00115         print ""
00116         print result
00117 
00118         self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)
00119 
00120 
00121     def test_free(self):
00122         cam = RectifiedCamera(DefaultParams())
00123         free_list = cam.calc_free( {"baseline_shift":0, "f_shift":0, "cx_shift":0, "cy_shift":0} )
00124         self.assertEqual(free_list[0], False)
00125 
00126         free_list = cam.calc_free( {"baseline_shift":1, "f_shift":0, "cx_shift":0, "cy_shift":0} )
00127         self.assertEqual(free_list[0], True)
00128 
00129         self.assertEqual(len(free_list), 4)
00130 
00131     def test_params_to_config(self):
00132         cam = RectifiedCamera(DefaultParams())
00133         p = matrix([1, 0, 0, 0], float).T
00134         config = cam.params_to_config(p)
00135         self.assertAlmostEqual(config["baseline_shift"], 1, 6)
00136 
00137     def test_length(self):
00138         cam = RectifiedCamera(DefaultParams())
00139         self.assertEqual(cam.get_length(), 4)
00140 
00141     def test_deflate(self):
00142         params = DefaultParams()
00143         params['baseline_shift'] = 10
00144         cam = RectifiedCamera(params)
00145         self.assertEqual(cam.deflate()[0,0], 10)
00146 
00147 if __name__ == '__main__':
00148     import rostest
00149     rostest.unitrun('pr2_calibration_estimation', 'test_RectifiedCamera', TestRectifiedCamera, coverage_packages=['pr2_calibration_estimation.camera'])
00150
camera_unittest.py
