parser.py
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00001 #!/usr/bin/env python
00002 #
00003 # Software License Agreement (BSD License)
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00005 # Copyright (c) 2009, Willow Garage, Inc.
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00034 
00035 import rosunit
00036 import subprocess
00037 import unittest
00038 import os
00039 from camera_calibration_parsers import readCalibration
00040 
00041 class TestParser(unittest.TestCase):
00042     def test_ini(self):
00043         for files in [('calib5.ini', 'calib5.yaml'), ('calib8.ini', 'calib8.yaml')]:
00044             for dir in [ '', './']:
00045                 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)
00046                 out, err = p.communicate()
00047                 self.assertEqual(err, '')
00048 
00049     def test_readCalibration(self):
00050         script_dir = os.path.dirname(os.path.realpath(__file__))
00051         camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib5.ini'))
00052         self.assertEqual(camera_name, 'mono_left')
00053         self.assertEqual(camera_info.height, 480)
00054         self.assertEqual(camera_info.width, 640)
00055         self.assertEqual(camera_info.P[0], 262.927429)
00056         
00057         camera_name, camera_info = readCalibration(os.path.join(script_dir, 'calib8.ini'))
00058         self.assertEqual(camera_info.distortion_model, 'rational_polynomial')
00059 
00060 if __name__ == '__main__':
00061     rosunit.unitrun('camera_calibration_parsers', 'parser', TestParser)


camera_calibration_parsers
Author(s): Patrick Mihelich
autogenerated on Tue Jun 6 2017 02:33:31