test_camera_yaml_updater.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_robot_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: January 2012 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_robot_calibration' 00057 import roslib; roslib.load_manifest(PKG) 00058 import unittest 00059 00060 import yaml 00061 from cob_robot_calibration import camera_yaml_updater 00062 00063 FILE_IN = "test/data/test_camera_cal.yaml" 00064 FILE_OUT = "/tmp/test_camera_cal.yaml_out" 00065 FILE_OUT_RES_POS = "test/data/test_camera_cal.yaml_corr-result_pos" 00066 FILE_OUT_RES_NEG = "test/data/test_camera_cal.yaml_corr-result_neg" 00067 00068 class TestCameraYamlUpdater(unittest.TestCase): 00069 def test_update_baseline_zero(self): 00070 # do update 00071 updater = camera_yaml_updater.CameraYamlUpdater(FILE_IN, FILE_OUT) 00072 updater.update_baseline(0.0) 00073 00074 # compare with correct results 00075 self.assertTrue(self._cmp_yaml_files(FILE_OUT, FILE_IN)) 00076 00077 def test_update_baseline_positive(self): 00078 # do update 00079 updater = camera_yaml_updater.CameraYamlUpdater(FILE_IN, FILE_OUT) 00080 updater.update_baseline(10.0) 00081 00082 # compare with correct results 00083 self.assertTrue(self._cmp_yaml_files(FILE_OUT, FILE_OUT_RES_POS)) 00084 00085 def test_update_baseline_negative(self): 00086 # do update 00087 updater = camera_yaml_updater.CameraYamlUpdater(FILE_IN, FILE_OUT) 00088 updater.update_baseline(-10.0) 00089 00090 # compare with correct results 00091 self.assertTrue(self._cmp_yaml_files(FILE_OUT, FILE_OUT_RES_NEG)) 00092 00093 def _cmp_yaml_files(self, f1, f2): 00094 return yaml.load(file(f1)) == yaml.load(file(f2)) 00095 00096 if __name__ == '__main__': 00097 import rosunit 00098 rosunit.unitrun(PKG, 'TestCameraYamlUpdater', TestCameraYamlUpdater)