def test_simple_projection():
# get some 3D points
pts_3d = _build_points_3d()
if DRAW:
fig = plt.figure(figsize=(8, 12))
ax1 = fig.add_subplot(3, 1, 1, projection='3d')
ax1.scatter(pts_3d[:, 0], pts_3d[:, 1], pts_3d[:, 2])
ax1.set_xlabel('X')
ax1.set_ylabel('Y')
ax1.set_zlabel('Z')
# build a camera calibration matrix
focal_length = 1200
width, height = 640, 480
R = np.eye(3) # look at +Z
c = np.array((9.99, 19.99, 20))
M = make_M(focal_length, width, height, R, c)['M']
# now, project these 3D points into our image plane
pts_3d_H = np.vstack((pts_3d.T, np.ones((1, len(pts_3d))))) # make homog.
undist_rst_simple = np.dot(M, pts_3d_H) # multiply
undist_simple = undist_rst_simple[:2, :] / undist_rst_simple[
2, :] # project
if DRAW:
ax2 = fig.add_subplot(3, 1, 2)
ax2.plot(undist_simple[0, :], undist_simple[1, :], 'b.')
ax2.set_xlim(0, width)
ax2.set_ylim(height, 0)
ax2.set_title('matrix multiply')
# build a camera model from our M and project onto image plane
cam = CameraModel.load_camera_from_M(M, width=width, height=height)
undist_full = cam.project_3d_to_pixel(pts_3d).T
if DRAW:
plot_camera(ax1, cam, scale=10, axes_size=5.0)
sz = 20
x = 5
y = 8
z = 19
ax1.auto_scale_xyz([x, x + sz], [y, y + sz], [z, z + sz])
ax3 = fig.add_subplot(3, 1, 3)
ax3.plot(undist_full[0, :], undist_full[1, :], 'b.')
ax3.set_xlim(0, width)
ax3.set_ylim(height, 0)
ax3.set_title('pymvg')
if DRAW:
plt.show()
assert np.allclose(undist_full, undist_simple)
def test_simple_projection():
# get some 3D points
pts_3d = _build_points_3d()
if DRAW:
fig = plt.figure(figsize=(8,12))
ax1 = fig.add_subplot(3,1,1, projection='3d')
ax1.scatter( pts_3d[:,0], pts_3d[:,1], pts_3d[:,2])
ax1.set_xlabel('X')
ax1.set_ylabel('Y')
ax1.set_zlabel('Z')
# build a camera calibration matrix
focal_length = 1200
width, height = 640,480
R = np.eye(3) # look at +Z
c = np.array( (9.99, 19.99, 20) )
M = make_M( focal_length, width, height, R, c)['M']
# now, project these 3D points into our image plane
pts_3d_H = np.vstack( (pts_3d.T, np.ones( (1,len(pts_3d))))) # make homog.
undist_rst_simple = np.dot(M, pts_3d_H) # multiply
undist_simple = undist_rst_simple[:2,:]/undist_rst_simple[2,:] # project
if DRAW:
ax2 = fig.add_subplot(3,1,2)
ax2.plot( undist_simple[0,:], undist_simple[1,:], 'b.')
ax2.set_xlim(0,width)
ax2.set_ylim(height,0)
ax2.set_title('matrix multiply')
# build a camera model from our M and project onto image plane
cam = CameraModel.load_camera_from_M( M, width=width, height=height )
undist_full = cam.project_3d_to_pixel(pts_3d).T
if DRAW:
plot_camera( ax1, cam, scale=10, axes_size=5.0 )
sz = 20
x = 5
y = 8
z = 19
ax1.auto_scale_xyz( [x,x+sz], [y,y+sz], [z,z+sz] )
ax3 = fig.add_subplot(3,1,3)
ax3.plot( undist_full[0,:], undist_full[1,:], 'b.')
ax3.set_xlim(0,width)
ax3.set_ylim(height,0)
ax3.set_title('pymvg')
if DRAW:
plt.show()
assert np.allclose( undist_full, undist_simple )
def generate_camera(self):
(width,height)=(self.width,self.height)=(640,480)
center = 1,2,3
rot_axis = np.array((4,5,6.7))
rot_axis = rot_axis / np.sum(rot_axis**2)
rquat = tf.transformations.quaternion_about_axis(0.1, (rot_axis.tolist()))
rmat,_ = get_rotation_matrix_and_quaternion(rquat)
parts = make_M( 1234.56, width, height,
rmat, center)
if self.use_distortion:
dist = [-0.4, .2, 0, 0, 0]
else:
dist = [0, 0, 0, 0, 0]
self.cam = CameraModel.load_camera_from_M(parts['M'],
width=width,height=height,
distortion_coefficients=dist)