def _test_example_intrinsics(self, example):
p3c, p2, f, c = (example[k] for k in ['p3c', 'p2', 'f', 'c'])
actual_f, actual_c = calculate_intrinsics(np.reshape(p3c, (-1, 3)),
np.reshape(p2, (-1, 2)))
np.testing.assert_allclose(actual_f, f)
np.testing.assert_allclose(actual_c, c)
actual_p2 = project(p3c, f, c)
np.testing.assert_allclose(actual_p2, p2, atol=1.0)
def test_2d(self):
n = 1000
p3 = np.random.uniform(size=(n, 3))
p3[:, 2] += 2
f = np.array([1.2, 1.1])
c = np.array([200., 201.])
p2 = p3[:, :2] / p3[:, -1:] * f + c
actual_f, actual_c = calculate_intrinsics(p3, p2)
np.testing.assert_allclose(actual_f, f)
np.testing.assert_allclose(actual_c, c)
def _calculate_intrinsics(self):
self.attrs['f'], self.attrs['c'] = calculate_intrinsics(
np.reshape(self._example['p3c'], (-1, 3)),
np.reshape(self._example['p2'], (-1, 2)))