Issue #46: Fix unit tests and linting.

requirements.txt

@@ -6,8 +6,8 @@ six>=1.10
 numpy>=1.11
 opencv-contrib-python-headless>=4.1.1.26
 scikit-surgerycore>=0.1.7
-scikit-surgeryimage>=0.2.0
-scikit-surgeryvtk>=0.19.1
-#scikit-surgeryarucotracker>=0.0.4 fixme
+scikit-surgeryimage>=0.10.1
+scikit-surgeryvtk>=1.0.6
+scikit-surgeryarucotracker>=0.2.7
 scikit-surgerycalibration>=0.2.1
-PySide2==5.12.0
+PySide2

tests/data/laparoscope_calibration/cbh-viking/calib.left.distortion.txt

@@ -0,0 +1 @@
+-0.291690 -0.001882 0.007161 -0.000171 0.374519

tests/data/laparoscope_calibration/cbh-viking/calib.left.intrinsics.txt

@@ -0,0 +1,3 @@
+1766.276290 0.000000 915.665775
+0.000000 1769.623383 458.985368
+0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/calib.right.distortion.txt

@@ -0,0 +1 @@
+-0.291115 0.226945 -0.000367 0.013965 -0.121846

tests/data/laparoscope_calibration/cbh-viking/calib.right.intrinsics.txt

@@ -0,0 +1,3 @@
+1792.669020 0.000000 1113.645820
+0.000000 1792.169495 478.497416
+0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/config-cbh-dots.json

@@ -0,0 +1,52 @@
+{
+    "tracker": {
+        "tracker type": "unit test",
+        "use quaternions": false,
+        "tracked objects": {
+            "marker": "config/8700339.rom",
+            "laparoscope": "config/8700449.rom",
+            "pointer": "config/8700340.rom"
+        }
+    },
+    "calibration": {
+        "general": {
+            "load previous calibration file": true,
+            "left intrinsics": "",
+            "left distortion": "",
+            "right intrinsics": "",
+            "right distortion": "",
+            "l2r": "",
+            "features": "dots",
+            "frames required": 5,
+            "smooth images": false,
+            "iterative": false,
+            "maximum reprojection error": 20,
+            "maximum reconstruction error": 5,
+            "display good or bad": true,
+            "required to pass": false
+        },
+        "charuco": {
+            "minimum points per frame": 50,
+            "squares": [19, 26],
+            "square sizes": [5, 4],
+            "chessboard squares": [9, 14],
+            "chessboard square size": 3,
+            "filter markers": false,
+            "error if no chessboard": true,
+            "error if no charuco": false
+        },
+        "dots": {
+            "intrinsic params": "tests/data/calibration/cbh-viking/calib.left.intrinsics.txt",
+            "distortion coeffs": "tests/data/calibration/cbh-viking/calib.left.distortion.txt",
+            "minimum points per frame": 36,
+            "dots": [14, 16],
+            "separation in mm": 4,
+            "fiducial indexes": [69, 74, 149, 154],
+            "reference image size in pixels": [1200, 1360],
+            "pixels per mm": 80
+        }
+    },
+    "recording": {
+        "output dir": "output/"
+    }
+}

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_08_32/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982398 -0.164113 -0.089220 72.810715
+-0.008690 0.517266 -0.855780 -263.958832
+0.186595 -0.839942 -0.509588 -1396.689209
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_09_35/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982717 -0.162246 -0.089131 72.787117
+-0.007737 0.517065 -0.855911 -263.931549
+0.184955 -0.840428 -0.509384 -1396.719971
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_10_22/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982798 -0.161738 -0.089161 72.783470
+-0.007532 0.517470 -0.855668 -263.936035
+0.184533 -0.840277 -0.509786 -1396.716064
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_10_45/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982774 -0.161856 -0.089202 72.792496
+-0.007553 0.517448 -0.855681 -263.932983
+0.184655 -0.840268 -0.509757 -1396.728027
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_11_22/tracking_data.txt

@@ -0,0 +1,4 @@
+nan nan nan nan
+nan nan nan nan
+nan nan nan nan
+nan nan nan nan

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_11_56/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982902 -0.161179 -0.089024 72.783546
+-0.007396 0.517651 -0.855560 -263.924164
+0.183982 -0.840273 -0.509992 -1396.731201
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_12_04/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982862 -0.161351 -0.089152 72.793602
+-0.007386 0.517705 -0.855527 -263.921356
+0.184194 -0.840207 -0.510024 -1396.717651
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_12_24/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982902 -0.161175 -0.089025 72.777924
+-0.007394 0.517654 -0.855558 -263.921570
+0.183979 -0.840272 -0.509995 -1396.695679
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_12_44/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.982908 -0.161018 -0.089251 72.785416
+-0.007027 0.517258 -0.855801 -263.899078
+0.183965 -0.840546 -0.509548 -1396.661499
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_13_18/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.974732 -0.205281 -0.088079 72.982742
+-0.031747 0.517605 -0.855030 -264.551239
+0.221111 -0.830629 -0.511043 -1395.835815
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_13_46/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.976352 -0.197388 -0.088175 72.941139
+-0.027534 0.518080 -0.854889 -264.480377
+0.214426 -0.832245 -0.511263 -1395.980469
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_14_26/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.976963 -0.194236 -0.088409 72.939697
+-0.025577 0.517852 -0.855088 -264.430023
+0.211872 -0.833127 -0.510891 -1396.021362
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_14_58/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.977317 -0.192506 -0.088278 72.926239
+-0.024757 0.517827 -0.855127 -264.402130
+0.210330 -0.833545 -0.510847 -1396.077759
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_16_59/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.978301 -0.188249 -0.086541 74.033569
+-0.024157 0.518483 -0.854746 -265.486938
+0.205775 -0.834109 -0.511780 -1396.832520
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/cbh-viking/snapshots-metal-1/14_17_36/tracking_data.txt

@@ -0,0 +1,4 @@
+-0.979023 -0.184886 -0.085623 74.031738
+-0.023645 0.520491 -0.853539 -265.775879
+0.202373 -0.833610 -0.513945 -1396.724243
+0.000000 0.000000 0.000000 1.000000

tests/data/laparoscope_calibration/chessboard_14_10_3.txt

@@ -0,0 +1,140 @@
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