parser.py
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1 #!/usr/bin/env python
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34 
35 import rosunit
36 import subprocess
37 import unittest
38 import os
39 from camera_calibration_parsers import readCalibration
40 
41 class TestParser(unittest.TestCase):
42  def test_ini(self):
43  for files in [('calib5.ini', 'calib5.yaml'), ('calib8.ini', 'calib8.yaml')]:
44  for dir in [ '', './']:
45  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)
46  out, err = p.communicate()
47  self.assertEqual(err, '')
48 
50  script_dir = os.path.dirname(os.path.realpath(__file__))
51  camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib5.ini'))
52  self.assertEqual(camera_name, 'mono_left')
53  self.assertEqual(camera_info.height, 480)
54  self.assertEqual(camera_info.width, 640)
55  self.assertEqual(camera_info.P[0], 262.927429)
56 
57  camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib8.ini'))
58  self.assertEqual(camera_info.distortion_model, 'rational_polynomial')
59 
60 if __name__ == '__main__':
61  rosunit.unitrun('camera_calibration_parsers', 'parser', TestParser)
bool readCalibration(const std::string &file_name, std::string &camera_name, sensor_msgs::CameraInfo &cam_info)
Read calibration parameters from a file.
Definition: parse.cpp:54
def test_ini(self)
Definition: parser.py:42
def test_readCalibration(self)
Definition: parser.py:49


camera_calibration_parsers
Author(s): Patrick Mihelich
autogenerated on Mon Feb 28 2022 22:31:43