def test_get_insert_args(self):
assert Polyline2D._get_insert_args(_POLYLINE_INFO_1,
_POLYLINE_INFO_2) == (
[(2, Vector2D(3.0, 3.0))],
[(1, Vector2D(3.0, 2.0)),
(2, Vector2D(5.0, 4.0))],
)
def test_new_class(self):
with pytest.raises(TypeError):
Vector([1, 2])
with pytest.raises(TypeError):
Vector(1)
with pytest.raises(TypeError):
Vector(1, 2, 3, 4)
assert Vector(1, 2) == Vector2D(1, 2)
assert Vector(1, 2, 3) == Vector3D(1, 2, 3)
assert Vector(*[1, 2]) == Vector2D(1, 2)
def test_project(self):
camera_intrinsics = CameraIntrinsics(
camera_matrix=[[1, 0, 0], [0, 1, 0], [0, 0, 1]], p1=1, p2=1, k1=1
)
point_1_fisheye_true = camera_intrinsics.project((1, 2), is_fisheye=True)
point_2_fisheye_true = camera_intrinsics.project((1, 2, 3), is_fisheye=True)
assert point_1_fisheye_true == Vector2D(1.195033740719647, 2.390067481439294)
assert point_2_fisheye_true == Vector2D(0.4039719111977248, 0.8079438223954496)
point_1_fisheye_false = camera_intrinsics.project((1, 2), is_fisheye=False)
point_2_fisheye_false = camera_intrinsics.project((1, 2, 3), is_fisheye=False)
assert point_1_fisheye_false == Vector2D(17.0, 29.0)
assert point_2_fisheye_false == Vector2D(1.740740740740741, 2.9259259259259256)
def test_project(self):
camera_matrix = CameraMatrix(matrix=_3x3_MATRIX)
with pytest.raises(TypeError):
camera_matrix.project([])
with pytest.raises(TypeError):
camera_matrix.project([1])
with pytest.raises(TypeError):
camera_matrix.project([1, 1, 1, 1])
with pytest.raises(ZeroDivisionError):
camera_matrix.project([0, 0, 0])
assert camera_matrix.project([0, 0]) == Vector2D(3, 5)
assert camera_matrix.project([1, 2]) == Vector2D(8, 13)
assert camera_matrix.project([1, 2, 4]) == Vector2D(4.25, 7.0)
def test_loads(self):
labeledpolygonline2d = LabeledPolyline2D.loads(
_LABELED_POLYLINE2D_CONTENTS)
assert labeledpolygonline2d[0] == Vector2D(1, 2)
assert labeledpolygonline2d.category == "cat"
assert labeledpolygonline2d.attributes == {"gender": "male"}
assert labeledpolygonline2d.instance == "12345"
def test_init(self):
labeledpolyline2d = LabeledPolyline2D([(1, 2)],
category="cat",
attributes={"gender": "male"},
instance="12345")
assert labeledpolyline2d[0] == Vector2D(1, 2)
assert labeledpolyline2d.category == "cat"
assert labeledpolyline2d.attributes == {"gender": "male"}
assert labeledpolyline2d.instance == "12345"
def test_distort(self):
distortion_coefficients = DistortionCoefficients(p1=1.0, p2=2.0, k1=3.0, k2=4.0)
with pytest.raises(TypeError):
distortion_coefficients.distort((1.0, 2.0, 3.0, 4.0), is_fisheye=True)
distored_2d_fisheye_true_1 = distortion_coefficients.distort((1.0, 2.0), is_fisheye=True)
distored_2d_fisheye_true_2 = distortion_coefficients.distort(
(1.0, 2.0, 3.0), is_fisheye=True
)
assert distored_2d_fisheye_true_1 == Vector2D(6.158401093771876, 12.316802187543752)
assert distored_2d_fisheye_true_2 == Vector2D(0.83187700005734, 1.66375400011468)
distored_2d_fisheye_false_1 = distortion_coefficients.distort((1.0, 2.0), is_fisheye=False)
distored_2d_fisheye_false_2 = distortion_coefficients.distort(
(1.0, 2.0, 3.0), is_fisheye=False
)
assert distored_2d_fisheye_false_1 == Vector2D(134.0, 253.0)
assert distored_2d_fisheye_false_2 == Vector2D(3.3004115226337447, 4.934156378600823)
def test_and(self):
box2d_1 = Box2D(1, 2, 3, 4)
box2d_2 = Box2D(2, 3, 4, 5)
vector2d = Vector2D(1, 2)
user_sequence = UserSequence()
user_sequence._data = ["a", "b", "c", "d"]
assert (box2d_1 & box2d_2) == Box2D(2, 3, 3, 4)
assert box2d_1.__and__([1, 2, 3]) == NotImplemented
assert box2d_1.__and__(vector2d) == NotImplemented
assert box2d_1.__and__(user_sequence) == NotImplemented
def distort(self,
point: Sequence[float],
is_fisheye: bool = False) -> Vector2D:
"""Add distortion to a point.
Arguments:
point: A Sequence containing the coordinates of the point to be distorted.
is_fisheye: Whether the sensor is fisheye camera, default is False.
Raises:
TypeError: When the dimension of the input point is neither two nor three.
Returns:
Distorted 2d point.
Examples:
Distort a point with 2 dimensions
>>> distortion_coefficients.distort((1.0, 2.0))
Vector2D(134.0, 253.0)
Distort a point with 3 dimensions
>>> distortion_coefficients.distort((1.0, 2.0, 3.0))
Vector2D(3.3004115226337447, 4.934156378600823)
Distort a point with 2 dimensions, fisheye is True
>>> distortion_coefficients.distort((1.0, 2.0), is_fisheye=True)
Vector2D(6.158401093771876, 12.316802187543752)
"""
# pylint: disable=invalid-name
if len(point) == 3:
x = point[0] / point[2]
y = point[1] / point[2]
elif len(point) == 2:
x = point[0]
y = point[1]
else:
raise TypeError(
"The point to be projected must have 2 or 3 dimensions")
x2 = x**2
y2 = y**2
xy2 = 2 * x * y
r2 = x2 + y2
radial_distortion = self._calculate_radial_distortion(r2, is_fisheye)
tangential_distortion = self._calculate_tangential_distortion(
r2, x2, y2, xy2, is_fisheye)
x = x * radial_distortion + tangential_distortion[0]
y = y * radial_distortion + tangential_distortion[1]
return Vector2D(x, y)
def test_init(self):
assert MultiPolyline2D() == MultiPolyline2D([])
assert MultiPolyline2D(_MULTI_POLYLINE_SEQUENCE) == MultiPolyline2D([
[Vector2D(1, 1),
Vector2D(2, 2),
Vector2D(4, 4),
Vector2D(5, 5)],
[Vector2D(2, 1), Vector2D(4, 3),
Vector2D(6, 5)],
])
def test_init(self):
with pytest.raises(TypeError):
Vector2D(1, 2, 3)
with pytest.raises(TypeError):
Vector2D([1, 2])
with pytest.raises(TypeError):
Vector2D()
assert Vector2D(*[1, 2]) == Vector2D(1, 2)
assert Vector2D(x=1, y=1) == Vector2D(1, 1)
vector_2d = Vector2D(1, 2)
assert vector_2d.x == 1
assert vector_2d.y == 2
def test_init(self):
with pytest.raises(TypeError):
Box2D()
with pytest.raises(TypeError):
Box2D(1)
with pytest.raises(TypeError):
Box2D(x=0)
with pytest.raises(TypeError):
Box2D()
with pytest.raises(TypeError):
Box2D([1, 2, 3, 4])
assert Box2D(*[1, 2, 3, 4]) == Box2D(1, 2, 3, 4)
box2d = Box2D(1, 2, 3, 4)
assert box2d.xmin == 1
assert box2d.ymin == 2
assert box2d.xmax == 3
assert box2d.ymax == 4
assert box2d.tl == Vector2D(1, 2)
assert box2d.br == Vector2D(3, 4)
assert box2d.width == 2
assert box2d.height == 2
def test_loads(self):
content = {
"polygon": [
{
"x": 1,
"y": 2
},
],
"category": "cat",
"attributes": {
"gender": "male"
},
"instance": 12345,
}
labeledpolygon = LabeledPolygon.loads(content)
assert labeledpolygon[0] == Vector2D(1, 2)
assert labeledpolygon.category == "cat"
assert labeledpolygon.attributes == {"gender": "male"}
assert labeledpolygon.instance == 12345
def project(self, point: Sequence[float]) -> Vector2D:
"""Project a point to the pixel coordinates.
Arguments:
point: A Sequence containing the coordinates of the point to be projected.
Returns:
The pixel coordinates.
Raises:
TypeError: When the dimension of the input point is neither two nor three.
Examples:
Project a point in 2 dimensions
>>> camera_matrix.project([1, 2])
Vector2D(12, 19)
Project a point in 3 dimensions
>>> camera_matrix.project([1, 2, 4])
Vector2D(6.0, 10.0)
"""
if len(point) == 3:
x = point[0] / point[2]
y = point[1] / point[2]
elif len(point) == 2:
x = point[0]
y = point[1]
else:
raise TypeError(
"The point to be projected must have 2 or 3 dimensions")
x = self.fx * x + self.skew * y + self.cx
y = self.fy * y + self.cy
return Vector2D(x, y)
def test_init(self):
sequence = [[1, 1], [1, 2], [2, 2]]
assert Polyline2D() == Polyline2D([])
assert Polyline2D(sequence) == Polyline2D(
[Vector2D(1, 1), Vector2D(1, 2),
Vector2D(2, 2)])
def test_neg(self):
vector = Vector(1, 1)
assert -vector == Vector2D(-1, -1)
def test_neg(self):
keypoint = Keypoint2D(1, 1, 1)
assert -keypoint == Vector2D(-1, -1)
def test_dumps(self):
vector = Vector2D(1, 2)
assert vector.dumps() == _DATA[0]
def test_loads(self):
vector = Vector2D.loads(_DATA[0])
assert vector._data == (1, 2)
def test_init(self):
sequence = [[1, 1], [1, 2], [2, 2]]
assert Polyline2D() == Polyline2D([])
result = Polyline2D([Vector2D(1, 1), Vector2D(1, 2), Vector2D(2, 2)])
assert Polyline2D(sequence) == result
assert Polyline2D(np.array(sequence)) == result
from tensorbay.geometry import Box2D, MultiPolyline2D, Polyline2D, Vector2D
_POLYLINE_SEQUENCE_1 = [[1, 1], [2, 2], [4, 4], [5, 5]]
_POLYLINE_SEQUENCE_2 = [[2, 1], [4, 3], [6, 5]]
_POLYLINE_1 = Polyline2D(_POLYLINE_SEQUENCE_1)
_POLYLINE_2 = Polyline2D(_POLYLINE_SEQUENCE_2)
_MULTI_POLYLINE_SEQUENCE = [_POLYLINE_SEQUENCE_1, _POLYLINE_SEQUENCE_2]
_MULTI_POLYLINE = MultiPolyline2D([_POLYLINE_SEQUENCE_1, _POLYLINE_SEQUENCE_2])
_POLYLINE_INFO_1 = (
{
"index": 0,
"point": Vector2D(1, 1),
"vector": Vector2D(1, 1),
"time": 0.25,
"last_time": 0,
},
{
"index": 1,
"point": Vector2D(2, 2),
"vector": Vector2D(2, 2),
"time": 0.75,
"last_time": 0.25,
},
{
"index": 2,
"point": Vector2D(4, 4),
"vector": Vector2D(1, 1),
def test_get_insert_arg(self):
assert Polyline2D._get_insert_arg(
0.2, _POLYLINE_INFO_1[0]) == (1, Vector2D(1.8, 1.8))
assert Polyline2D._get_insert_arg(
0.8, _POLYLINE_INFO_1[1]) == (2, Vector2D(4.2, 4.2))
