From 87dbc6ce1d3b379d999a65951083adffb8718728 Mon Sep 17 00:00:00 2001 From: John Ingve Olsen Date: Fri, 29 Nov 2024 16:13:15 +0100 Subject: [PATCH] Update checkerboard ZDFs and multicamera transforms In 2.14, we dropped support for legacy checkerboards that lack Aruco markers. This commit replaces the checkerboard frames which had legacy checkerboards with new frames. Also the multicamera transforms are updated based on the new frames. --- test/calibration/test_calibration_basics.py | 2 +- test/test_data/checkerboard_0.zdf | 4 ++-- test/test_data/checkerboard_1.zdf | 4 ++-- test/test_data/checkerboard_2.zdf | 4 ++-- test/test_data/multicamera_transform_1.csv | 8 ++++---- test/test_data/multicamera_transform_2.csv | 8 ++++---- 6 files changed, 15 insertions(+), 15 deletions(-) diff --git a/test/calibration/test_calibration_basics.py b/test/calibration/test_calibration_basics.py index adc2e61c..0024026a 100644 --- a/test/calibration/test_calibration_basics.py +++ b/test/calibration/test_calibration_basics.py @@ -24,7 +24,7 @@ def test_detect_feature_points(checkerboard_frames): centroid = detection_result.centroid() assert isinstance(centroid, np.ndarray) assert centroid.shape == (3,) - np.testing.assert_allclose(centroid, [-67.03593, 71.17018, 906.348], rtol=1e-6) + np.testing.assert_allclose(centroid, [-14.350989, -43.70388, 1016.19257], rtol=1e-6) def test_calibration_board_pose(calibration_board_frame): diff --git a/test/test_data/checkerboard_0.zdf b/test/test_data/checkerboard_0.zdf index da8d1ef7..c5803944 100644 --- a/test/test_data/checkerboard_0.zdf +++ b/test/test_data/checkerboard_0.zdf @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:14a7310cb790e2af095834e937a47d96f642a0f6c4fe61b7186db88e3e4a3d5a -size 22783738 +oid sha256:55d6bdfbabb9dcea369c34d88a94e7d351ae069bad38ed6d819a5d4dd82387c1 +size 29367682 diff --git a/test/test_data/checkerboard_1.zdf b/test/test_data/checkerboard_1.zdf index 3b8cee1d..ce43d4fb 100644 --- a/test/test_data/checkerboard_1.zdf +++ b/test/test_data/checkerboard_1.zdf @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:6eaa678e815994a9ea87575fc4e670ba18c825b0a6573b8ef4539683d48f3f7c -size 23612010 +oid sha256:54be263969f02255fde5a0f46b1d5d90ceb4f2b4092572b42b3944a47e83e265 +size 29159585 diff --git a/test/test_data/checkerboard_2.zdf b/test/test_data/checkerboard_2.zdf index 9b3f90ed..0eba434e 100644 --- a/test/test_data/checkerboard_2.zdf +++ b/test/test_data/checkerboard_2.zdf @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f66477401afabb7518df7b5823e12b115e9b992cdbaed42c7fb47bb340c1a7c5 -size 23341034 +oid sha256:766346895597bd5266bf3ea5ad5db29317d2ae66b429c337b2d05fee9f7dd7f8 +size 29140024 diff --git a/test/test_data/multicamera_transform_1.csv b/test/test_data/multicamera_transform_1.csv index 1938018c..bdd58168 100644 --- a/test/test_data/multicamera_transform_1.csv +++ b/test/test_data/multicamera_transform_1.csv @@ -1,4 +1,4 @@ --7.3095135e-02, 7.6068854e-01, -6.4498842e-01, 5.8324860e+02 --9.0033317e-01, 2.2786885e-01, 3.7077752e-01, -4.5301959e+02 - 4.2901897e-01, 6.0780650e-01, 6.6821700e-01, 3.4943375e+02 - 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00 +5.02376556e-01, 7.80708194e-01, -3.71634930e-01, 3.38841370e+02 +-8.01094711e-01, 5.82002580e-01, 1.39714986e-01, -1.23210884e+02 +3.25369120e-01, 2.27525249e-01, 9.17805672e-01, 7.47449799e+01 +0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00 \ No newline at end of file diff --git a/test/test_data/multicamera_transform_2.csv b/test/test_data/multicamera_transform_2.csv index 8d13e9fe..21925b3f 100644 --- a/test/test_data/multicamera_transform_2.csv +++ b/test/test_data/multicamera_transform_2.csv @@ -1,4 +1,4 @@ --5.0617337e-01, -7.4661517e-01, 4.3168774e-01, -4.4305154e+02 - 5.9950125e-01, 5.5231109e-02, 7.9846591e-01, -7.5797052e+02 --6.1998934e-01, 6.6295952e-01, 4.1964021e-01, 4.8767010e+02 - 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00 \ No newline at end of file +9.3767160e-01, -3.0800268e-01, 1.6095431e-01, -8.9220314e+01 +3.0431503e-01, 9.5137602e-01, 4.7707938e-02, -5.4816345e+01 +-1.6782224e-01, 4.2464356e-03, 9.8580813e-01, 2.2653728e+01 +0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00 \ No newline at end of file