text: from __future__ import print_function
  # /usr/bin/python
  # To run this test you need python nose tools installed
  # Run test just use:
  #   nosetest test_stereovision.py
  #
  
  import os, sys, pickle
  from SimpleCV import *
  from nose.tools import with_setup, nottest
  
  VISUAL_TEST = True  # if TRUE we save the images - otherwise we DIFF against them - the default is False
  SHOW_WARNING_TESTS = False  # show that warnings are working - tests will pass but warnings are generated.
  
  #colors
  black = Color.BLACK
  white = Color.WHITE
  red = Color.RED
  green = Color.GREEN
  blue = Color.BLUE
  
  ###############
  # TODO -
  # Examples of how to do profiling
  # Examples of how to do a single test -
  # UPDATE THE VISUAL TESTS WITH EXAMPLES.
  # Fix exif data
  # Turn off test warnings using decorators.
  # Write a use the tests doc.
  
  #images
  pair1 = ("../sampleimages/stereo1_left.png" , "../sampleimages/stereo1_right.png")
  pair2 = ("../sampleimages/stereo2_left.png" , "../sampleimages/stereo2_right.png")
  pair3 = ("../sampleimages/stereo1_real_left.png" , "../sampleimages/stereo1_real_right.png")
  pair4 = ("../sampleimages/stereo2_real_left.png" , "../sampleimages/stereo2_real_right.png")
  pair5 = ("../sampleimages/stereo3_real_left.png" , "../sampleimages/stereo3_real_right.png")
  
  correct_pairs = [pair1,pair2,pair3,pair4,pair5]
  
  #standards path
  standard_path = "./standard/"
  
  
  #Given a set of images, a path, and a tolerance do the image diff.
  def imgDiffs(test_imgs,name_stem,tolerance,path):
      count = len(test_imgs)
      for idx in range(0,count):
          lhs = test_imgs[idx].applyLayers() # this catches drawing methods
          fname = standard_path+name_stem+str(idx)+".jpg"
          rhs = Image(fname)
          if( lhs.width == rhs.width and lhs.height == rhs.height ):
              diff = (lhs-rhs)
              val = np.average(diff.getNumpy())
              if( val > tolerance ):
                  print(val)
                  return True
      return False
  
  #Save a list of images to a standard path.
  def imgSaves(test_imgs, name_stem, path=standard_path):
      count = len(test_imgs)
      for idx in range(0,count):
          fname = standard_path+name_stem+str(idx)+".jpg"
          test_imgs[idx].save(fname)#,quality=95)
  
  #perform the actual image save and image diffs.
  def perform_diff(result,name_stem,tolerance=2.0,path=standard_path):
      if(VISUAL_TEST): # save the correct images for a visual test
          imgSaves(result,name_stem,path)
      else: # otherwise we test our output against the visual test
          if( imgDiffs(result,name_stem,tolerance,path) ):
              assert False
          else:
              pass
  
  #These function names are required by nose test, please leave them as is
  def setup_context():
      img = Image(pair1[0])
  
  def destroy_context():
      img = ""
  
  @with_setup(setup_context, destroy_context)
  def test_findFundamentalMat():
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          if ( not StereoImg.findFundamentalMat()):
              assert False
  
  def test_findHomography():
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          if (not StereoImg.findHomography()):
              assert False
  
  def test_findDisparityMap():
      dips = []
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          dips.append(StereoImg.findDisparityMap(method="BM"))
      name_stem = "test_disparitymapBM"
      perform_diff(dips,name_stem)
  
      dips = []
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          dips.append(StereoImg.findDisparityMap(method="SGBM"))
      name_stem = "test_disparitymapSGBM"
      perform_diff(dips,name_stem)
  
  def test_eline():
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          F,ptsLeft,ptsRight = StereoImg.findFundamentalMat()
          for pts in ptsLeft :
              line = StereoImg.Eline(pts,F,2)
              if (line == None):
                  assert False
  
  
  def test_projectPoint():
      for pairs in correct_pairs :
          img1 = Image(pairs[0])
          img2 = Image(pairs[1])
          StereoImg = StereoImage(img1,img2)
          H,ptsLeft,ptsRight = StereoImg.findHomography()
          for pts in ptsLeft :
              line = StereoImg.projectPoint(pts,H,2)
              if (line == None):
                  assert False
  
  
  def test_StereoCalibration():
      cam = StereoCamera()
      try :
          cam1 = Camera(0)
          cam2 = Camera(1)
          cam1.getImage()
          cam2.getImage()
          try :
              cam = StereoCamera()
              calib = cam.StereoCalibration(0,1,nboards=1)
              if (calib):
                  assert True
              else :
                  assert False
          except:
              assert False
      except :
          assert True
  
  def test_loadCalibration():
      cam = StereoCamera()
      calbib =  cam.loadCalibration("Stereo","./StereoVision/")
      if (calbib) :
          assert True
      else :
          assert False
  
  def test_StereoRectify():
      cam = StereoCamera()
      calib = cam.loadCalibration("Stereo","./StereoVision/")
      rectify = cam.stereoRectify(calib)
      if rectify :
          assert True
      else :
          assert False
  
  def test_getImagesUndistort():
      img1 = Image(correct_pairs[0][0]).resize(352,288)
      img2 = Image(correct_pairs[0][1]).resize(352,288)
      cam = StereoCamera()
      calib = cam.loadCalibration("Stereo","./StereoVision/")
      rectify = cam.stereoRectify(calib)
      rectLeft,rectRight = cam.getImagesUndistort(img1,img2,calib,rectify)
      if rectLeft and rectRight :
          assert True
      else :
          assert False
  