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Commit f9ecfaa6 authored by d.kilic's avatar d.kilic
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Merge branch '367-crash-old-calibration' into 'master' 

Resolve "Crash after intrinsic calibration with old model"

Closes #367

See merge request !253
parents 5b592cba 771a64dd
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1 merge request!253Resolve "Crash after intrinsic calibration with old model"
Pipeline #89428 passed
Stage: pre-build-checks
Stage: build
Stage: test
Stage: build_installer
Stage: deploy
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src/autoCalib.cpp
+ 9
− 2
View file @ f9ecfaa6
...@@ -279,6 +279,7 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e ...@@ -279,6 +279,7 @@ AutoCalib::autoCalib(bool quadAspectRatio, bool fixCenter, bool tangDist, bool e
dist_coeffs, dist_coeffs,
&reproj_errs); &reproj_errs);
SPDLOG_INFO("{}", ok ? "Calibration succeeded." : "Calibration failed."); SPDLOG_INFO("{}", ok ? "Calibration succeeded." : "Calibration failed.");
SPDLOG_INFO("Intrinsic reprojection error is: {:f}", reproj_errs); SPDLOG_INFO("Intrinsic reprojection error is: {:f}", reproj_errs);
...@@ -379,10 +380,16 @@ int AutoCalib::runCalibration( ...@@ -379,10 +380,16 @@ int AutoCalib::runCalibration(
camera_matrix.ptr<double>(1)[1] = 1.; camera_matrix.ptr<double>(1)[1] = 1.;
} }
cv::Mat dist_coeffs_out;
*reproj_errs = calibrateCamera( *reproj_errs = calibrateCamera(
object_points, image_points, img_size, camera_matrix, dist_coeffs, rot_vects, trans_vects, flags); object_points, image_points, img_size, camera_matrix, dist_coeffs_out, rot_vects, trans_vects, flags);
// guarantee the same size by only changing new values; input is a zero-vector
// (some methods generate less coefficients than others/ normal vs. extended model)
for(int i = 0; i < dist_coeffs_out.cols; ++i)
{
dist_coeffs.at<double>(i) = dist_coeffs_out.at<double>(i);
}
code = 1; code = 1;
return code; return code;
......
tests/regression_test/data/00_empty.pet 0 → 100644
+ 91
− 0
View file @ f9ecfaa6
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
<BRIGHTNESS ENABLED="0" VALUE="0"/>
<CONTRAST ENABLED="0" VALUE="0"/>
<BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="511.5" CY="383.5" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="881" FY="881" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0" R4="0" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0" TY="0"/>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
<RECOGNITION>
<PERFORM ENABLED="0" METHOD="5" STEP="1"/>
<REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
<MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
<SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
<MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
</SIZE_COLOR>
<READ_HEIGHTS HEIGHT_FILE=""/>
<READ_MARKER_IDS MARKER_FILE=""/>
</RECOGNITION>
<TRACKING>
<ONLINE_CALCULATION ENABLED="0"/>
<REPEAT_BELOW ENABLED="1" QUALITY="50"/>
<EXTRAPOLATION ENABLED="1"/>
<MERGE ENABLED="0"/>
<ONLY_VISIBLE ENABLED="1"/>
<REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
<SEARCH_MISSING_FRAMES ENABLED="1"/>
<RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
<ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
<EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
<EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
<EXPORT_SMOOTH ENABLED="1"/>
<EXPORT_VIEWING_DIRECTION ENABLED="0"/>
<EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
<EXPORT_USE_METER ENABLED="0"/>
<EXPORT_COMMENT ENABLED="0"/>
<EXPORT_MARKERID ENABLED="0"/>
<TEST_EQUAL ENABLED="1"/>
<TEST_VELOCITY ENABLED="1"/>
<TEST_INSIDE ENABLED="1"/>
<TEST_LENGTH ENABLED="1"/>
<TRACK_FILE FILENAME=""/>
<SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
<PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_LINE_WIDTH="1" COLOR_MARKER_SIZE="14" CURRENT_POINT_LINE_WIDTH="1" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" SHOW_POINTS_LINE_WIDTH="1" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
</TRACKING>
<ANALYSIS>
<SEARCH_MISSING_FRAMES ENABLED="1"/>
<MARK_ACTUAL ENABLED="0"/>
<CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
</ANALYSIS>
</CONTROL>
<EXTR_CALIBRATION>
<REPROJECTION_ERROR AVG_DH="6.952642160144429e-310" AVG_PH="4.6632137672154514e-310" AVG_PX="4.9406564584124654e-324" MAX_DH="4.6632130749188108e-310" MAX_PH="4.6632130749149077e-310" MAX_PX="4.6632132612882775e-310" SD_DH="4.6632137672154514e-310" SD_PH="6.9526421601088563e-310" SD_PX="6.952642160144429e-310" USED_HEIGHT="4.6632137672154514e-310"/>
</EXTR_CALIBRATION>
<STEREO>
<DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
<VALUES MAX="100" MIN="0"/>
<MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
<USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
</DISPARITY>
</STEREO>
<COLOR_MARKER>
<MASK MASK="1" OPACITY="100" SHOW="0"/>
<FROM_COLOR HUE="0" SATURATION="0" VALUE="128"/>
<TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
<PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
</COLOR_MARKER>
<CODE_MARKER>
<DICTIONARY ID="0"/>
<PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="27" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
</CODE_MARKER>
<MULTI_COLOR_MARKER>
<BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
<CODE_MARKER USE="0"/>
<AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
<MASK MASK="1" OPACITY="100" SHOW="0"/>
<PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
</MULTI_COLOR_MARKER>
<MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
<PLAYER FPS="-1" FRAME="-1" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="-1" SOURCE_FRAME_OUT="-1"/>
<VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="250 0 0 0"/>
<AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
<MISSING_FRAMES executed="0"/>
</PETRACK>
tests/regression_test/data/01_intrinsic.pet 0 → 100644
+ 91
− 0
View file @ f9ecfaa6
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.3">
<MAIN SRC="" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
<BRIGHTNESS ENABLED="0" VALUE="0"/>
<CONTRAST ENABLED="0" VALUE="0"/>
<BORDER COLOR="#000000" ENABLED="0" VALUE="0"/>
<SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
<BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
<PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="952.03999999999996" CY="698.72000000000003" ENABLED="0" EXT_MODEL_ENABLED="0" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
<RECOGNITION>
<PERFORM ENABLED="0" METHOD="5" STEP="1"/>
<REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
<MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
<SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
<MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
</SIZE_COLOR>
<READ_HEIGHTS HEIGHT_FILE=""/>
<READ_MARKER_IDS MARKER_FILE=""/>
</RECOGNITION>
<TRACKING>
<ONLINE_CALCULATION ENABLED="0"/>
<REPEAT_BELOW ENABLED="1" QUALITY="50"/>
<EXTRAPOLATION ENABLED="1"/>
<MERGE ENABLED="0"/>
<ONLY_VISIBLE ENABLED="1"/>
<REGION_OF_INTEREST FIX="0" HEIGHT="0" SHOW="0" WIDTH="0" X="0" Y="0"/>
<SEARCH_MISSING_FRAMES ENABLED="1"/>
<RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
<ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
<EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
<EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
<EXPORT_SMOOTH ENABLED="1"/>
<EXPORT_VIEWING_DIRECTION ENABLED="0"/>
<EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
<EXPORT_USE_METER ENABLED="0"/>
<EXPORT_COMMENT ENABLED="0"/>
<EXPORT_MARKERID ENABLED="0"/>
<TEST_EQUAL ENABLED="1"/>
<TEST_VELOCITY ENABLED="1"/>
<TEST_INSIDE ENABLED="1"/>
<TEST_LENGTH ENABLED="1"/>
<TRACK_FILE FILENAME=""/>
<SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
<PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_LINE_WIDTH="1" COLOR_MARKER_SIZE="14" CURRENT_POINT_LINE_WIDTH="1" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" SHOW_POINTS_LINE_WIDTH="1" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
</TRACKING>
<ANALYSIS>
<SEARCH_MISSING_FRAMES ENABLED="1"/>
<MARK_ACTUAL ENABLED="0"/>
<CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
</ANALYSIS>
</CONTROL>
<EXTR_CALIBRATION>
<REPROJECTION_ERROR AVG_DH="3.5572726500569751e-322" AVG_PH="8.7423532647800221e-318" AVG_PX="2.4703282292062327e-323" MAX_DH="4.6632130749188108e-310" MAX_PH="4.6632130749149077e-310" MAX_PX="4.6632132612882775e-310" SD_DH="4.6632137672154514e-310" SD_PH="6.9526421601088563e-310" SD_PX="6.952642160144429e-310" USED_HEIGHT="4.6632137672154514e-310"/>
</EXTR_CALIBRATION>
<STEREO>
<DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
<VALUES MAX="100" MIN="0"/>
<MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
<USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
</DISPARITY>
</STEREO>
<COLOR_MARKER>
<MASK MASK="1" OPACITY="100" SHOW="0"/>
<FROM_COLOR HUE="0" SATURATION="0" VALUE="0"/>
<TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
<PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
</COLOR_MARKER>
<CODE_MARKER>
<DICTIONARY ID="0"/>
<PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="27" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
</CODE_MARKER>
<MULTI_COLOR_MARKER>
<BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
<CODE_MARKER USE="0"/>
<AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
<MASK MASK="1" OPACITY="100" SHOW="0"/>
<PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
</MULTI_COLOR_MARKER>
<MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
<PLAYER FPS="-1" FRAME="-1" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="-1"/>
<VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="250 0 0 0"/>
<AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
<MISSING_FRAMES executed="0"/>
</PETRACK>
tests/regression_test/tests/test_calib.py
+ 30
− 1
View file @ f9ecfaa6
...@@ -87,7 +87,7 @@ def compare_intrinsic_calib(test_pet: ET.ElementTree, truth_pet: ET.ElementTree) ...@@ -87,7 +87,7 @@ def compare_intrinsic_calib(test_pet: ET.ElementTree, truth_pet: ET.ElementTree)
assert test_calib_params == approx(truth_calib_params, abs=0.1) assert test_calib_params == approx(truth_calib_params, abs=0.1)
def test_autoCalib(pytestconfig): def test_autoCalib_default_options(pytestconfig):
petrack_path = pytestconfig.getoption("path") petrack_path = pytestconfig.getoption("path")
project = "../../../demo/00_files/00_empty.pet" project = "../../../demo/00_files/00_empty.pet"
real_intrinsic = "../../../demo/01_calibration/01_intrinsic.pet" real_intrinsic = "../../../demo/01_calibration/01_intrinsic.pet"
...@@ -114,3 +114,32 @@ def test_autoCalib(pytestconfig): ...@@ -114,3 +114,32 @@ def test_autoCalib(pytestconfig):
truth_pet = ET.parse(real_intrinsic) truth_pet = ET.parse(real_intrinsic)
compare_intrinsic_calib(test_pet, truth_pet) compare_intrinsic_calib(test_pet, truth_pet)
def test_autoCalib_old_model(pytestconfig):
petrack_path = pytestconfig.getoption("path")
project = "../data/00_empty.pet"
real_intrinsic = "../data/01_intrinsic.pet"
intrinsic_dir = "../../../demo/00_files/calibration/intrinsic"
output = "../data/calibTest.pet" # same for other test, cannot be run concurrently
# run autocalib on demo project
subprocess.run(
[
petrack_path,
"-project",
project,
"-autoIntrinsic",
intrinsic_dir,
"-autosave",
output,
"-platform",
"offscreen",
],
check=True,
)
test_pet = ET.parse(output)
truth_pet = ET.parse(real_intrinsic)
compare_intrinsic_calib(test_pet, truth_pet)
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