camera_unittest.py

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#!/usr/bin/env python
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import roslib; roslib.load_manifest('calibration_estimation')

import sys
import unittest
import rospy
import time
import numpy

from calibration_estimation.camera import RectifiedCamera
from numpy import *

def DefaultParams():
    return {'baseline_shift':0,
            'frame_id': 'default_frame',
            'chain_id': 'default_chain',
            'f_shift':0,
            'cx_shift':0,
            'cy_shift':0,
            'cov': {'u':0.5, 'v':0.5} }

class TestRectifiedCamera(unittest.TestCase):

    def test_project_easy_1(self):
        cam = RectifiedCamera(DefaultParams())
        P_list = [ 1, 0, 0, 0, \
                   0, 1, 0, 0, \
                   0, 0, 1, 0 ]

        pts = matrix( [ [ 0, 1, 0, 2 ],
                        [ 0, 1, 1, 0 ],
                        [ 1, 1, 2, 2 ],
                        [ 1, 1, 1, 1 ]], float )

        expected = matrix( [ [ 0, 1,  0, 1],
                             [ 0, 1, .5, 0] ] )

        result = cam.project(P_list, pts)

        print ""
        print result

        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

    def test_project_easy_2(self):
        cam = RectifiedCamera(DefaultParams())
        P_list = [ 1, 0, 0,-1, \
                   0, 1, 0, 0, \
                   0, 0, 1, 0 ]

        pts = matrix( [ [ 0, 1, 0, 2 ],
                        [ 0, 1, 1, 0 ],
                        [ 1, 1, 2, 2 ],
                        [ 1, 1, 1, 1 ]], float )

        expected = matrix( [ [-1, 0,-.5,.5],
                             [ 0, 1, .5, 0] ] )

        result = cam.project(P_list, pts)

        print ""
        print result

        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)

    def test_project_easy_3(self):
        cam = RectifiedCamera(DefaultParams())
        P_list = [ 1, 0, 0, 0, \
                   0, 1, 0, 0, \
                   0, 0, 1, 0 ]

        cam.inflate(matrix([-1]))

        pts = matrix( [ [ 0, 1, 0, 2 ],
                        [ 0, 1, 1, 0 ],
                        [ 1, 1, 2, 2 ],
                        [ 1, 1, 1, 1 ]], float )

        expected = matrix( [ [-1, 0,-.5,.5],
                             [ 0, 1, .5, 0] ] )

        result = cam.project(P_list, pts)

        print ""
        print result

        self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)


    def test_free(self):
        cam = RectifiedCamera(DefaultParams())
        free_list = cam.calc_free( {"baseline_shift":0, "f_shift":0, "cx_shift":0, "cy_shift":0} )
        self.assertEqual(free_list[0], False)

        free_list = cam.calc_free( {"baseline_shift":1, "f_shift":0, "cx_shift":0, "cy_shift":0} )
        self.assertEqual(free_list[0], True)

        self.assertEqual(len(free_list), 4)

    def test_params_to_config(self):
        cam = RectifiedCamera(DefaultParams())
        p = matrix([1, 0, 0, 0], float).T
        config = cam.params_to_config(p)
        self.assertAlmostEqual(config["baseline_shift"], 1, 6)

    def test_length(self):
        cam = RectifiedCamera(DefaultParams())
        self.assertEqual(cam.get_length(), 4)

    def test_deflate(self):
        params = DefaultParams()
        params['baseline_shift'] = 10
        cam = RectifiedCamera(params)
        self.assertEqual(cam.deflate()[0,0], 10)

if __name__ == '__main__':
    import rostest
    rostest.unitrun('calibration_estimation', 'test_RectifiedCamera', TestRectifiedCamera, coverage_packages=['calibration_estimation.camera'])