def test_as_matrix(self):
np.testing.assert_equal(SimpleCameraIntrinsics().as_matrix(),
np.eye(3))
np.testing.assert_equal(
SimpleCameraIntrinsics(10, (2, 3), 2, 5).as_matrix(),
[[10, 5, 2], [0, 5, 3], [0, 0, 1]],
)
def test_max_distort_radius(self):
s = SimpleCameraIntrinsics(
self.focal_length,
self.principal_point,
dist_coeffs=np.array([-0.1, 0.0, 0.0]),
)
a = s.max_distort_radius() * s.max_distort_radius()
b = s.get_max_distort_radius_sq()
self.assertEqual(a, b)
def test_clone(self):
s = SimpleCameraIntrinsics(
self.focal_length,
self.principal_point,
dist_coeffs=np.array([-0.1, 0.0, 0.0]),
)
s_clone = s.clone()
assert (isinstance(s_clone, SimpleCameraIntrinsics))
self.assertEqual(s.focal_length(), s_clone.focal_length())
def test_is_map_valid(self):
s = SimpleCameraIntrinsics(
self.focal_length,
self.principal_point,
self.aspect_ratio,
self.skew,
self.dist_coeffs,
self.image_width,
self.image_height,
)
assert (s.is_map_valid(np.array([1.0, -1.0])))
def test_distort_undistort(self):
s = SimpleCameraIntrinsics(
self.focal_length,
self.principal_point,
self.aspect_ratio,
self.skew,
self.dist_coeffs,
self.image_width,
self.image_height,
)
np.testing.assert_array_almost_equal(np.array([2814.9, 1876.6]),
s.distort(np.array([3, 2])))
np.testing.assert_array_almost_equal(
np.array([0.92024957, 0.61349972]), s.undistort(np.array([3, 2])))
def test_map_unmap(self):
s = SimpleCameraIntrinsics(
self.focal_length,
self.principal_point,
self.aspect_ratio,
self.skew,
self.dist_coeffs,
self.image_width,
self.image_height,
)
np.testing.assert_array_almost_equal(np.array([35377.05, 16426.53]),
s.map(np.array([3, 2])))
np.testing.assert_array_almost_equal(np.array([0.084889, -0.316774]),
s.unmap(np.array([3, 2])))
def test_init_from_string(self):
ret_str = "0.09 1 1 0.83 2 3 4 2 9"
ret_intr = SimpleCameraIntrinsics.from_string(ret_str)
assert (isinstance(ret_intr, SimpleCameraIntrinsics))
self.assertEqual(ret_intr.focal_length(), 0.09)
np.testing.assert_array_almost_equal(ret_intr.principal_point(),
np.array([1, 3]))
def test_full_init_defaults(self):
s = SimpleCameraIntrinsics(self.focal_length, self.principal_point)
self.check_cam_intrins_properties_equal(
s,
aspect_ratio=1.0,
skew=0.0,
dist_coeffs=np.array([]),
image_width=0,
image_height=0,
)
def test_full_init_kwargs(self):
s = SimpleCameraIntrinsics(
focal_length=self.focal_length,
principal_point=self.principal_point,
aspect_ratio=self.aspect_ratio,
skew=self.skew,
dist_coeffs=self.dist_coeffs,
image_width=self.image_width,
image_height=self.image_height,
)
self.check_cam_intrins_properties_equal(s)
def test_get_set_skew(self):
s = SimpleCameraIntrinsics()
s.set_skew(self.skew)
self.assertAlmostEqual(s.skew(), self.skew)
def test_str(self):
s = SimpleCameraIntrinsics(self.focal_length, self.principal_point)
s = str(s)
assert (isinstance(s, str))
def check_finite_max_radius(self, a, b, c):
mr = SimpleCameraIntrinsics().max_distort_radius_sq(a, b, c)
self.assertGreater(mr, 0.0)
assert (np.isfinite(mr))
self.assertAlmostEqual(self.dist_deriv(mr, a, b, c), 0.0)
def test_init_from_base(self):
no_call_pure_virtual_method(SimpleCameraIntrinsics, CameraIntrinsics())
SimpleCameraIntrinsics(SimpleCameraIntrinsics())
def test_get_set_dist_coeffs(self):
s = SimpleCameraIntrinsics()
s.set_dist_coeffs(self.dist_coeffs)
np.testing.assert_array_almost_equal(s.dist_coeffs(), self.dist_coeffs)
def test_get_set_image_height(self):
s = SimpleCameraIntrinsics()
s.set_image_height(self.image_height)
self.assertAlmostEqual(s.image_height(), self.image_height)
def test_get_set_aspect_ratio(self):
s = SimpleCameraIntrinsics()
s.set_aspect_ratio(self.aspect_ratio)
self.assertAlmostEqual(s.aspect_ratio(), self.aspect_ratio)
def test_get_set_principal_point(self):
s = SimpleCameraIntrinsics()
s.set_principal_point(self.principal_point)
np.testing.assert_array_almost_equal(s.principal_point(),
self.principal_point)
def test_get_set_focal_length(self):
s = SimpleCameraIntrinsics()
s.set_focal_length(self.focal_length)
self.assertAlmostEqual(s.focal_length(), self.focal_length)
def test_init_from_calibration_mat_defaults(self):
s = SimpleCameraIntrinsics(self.K)
self.check_cam_intrins_properties_equal(s,
dist_coeffs=np.array([]),
check_width_height=False)
def test_init_from_calibration_mat(self):
s = SimpleCameraIntrinsics(self.K, self.dist_coeffs)
# This constructor doesn't initialize the width and height of the image,
# so we wont check those
self.check_cam_intrins_properties_equal(s, check_width_height=False)
def test_get_set_image_width(self):
s = SimpleCameraIntrinsics()
s.set_image_width(self.image_width)
self.assertAlmostEqual(s.image_width(), self.image_width)
def test_default_init(self):
SimpleCameraIntrinsics()