def _new(self, center, rotation, intrinsics):
cam_new = self.VITAL_LIB['vital_camera_new']
cam_new.argtypes = [
EigenArray.c_ptr_type(3, 1, ctypes.c_double),
Rotation.c_ptr_type(ctypes.c_double),
CameraIntrinsics.c_ptr_type(),
VitalErrorHandle.c_ptr_type()
]
cam_new.restype = self.c_ptr_type()
# Fill in parameter gaps
if center is None:
center = EigenArray(3)
center[:] = 0
else:
center = EigenArray.from_iterable(center)
if rotation is None:
rotation = Rotation()
if intrinsics is None:
intrinsics = CameraIntrinsics()
with VitalErrorHandle() as eh:
return cam_new(center, rotation, intrinsics, eh)
def test_equal(self):
ci1 = CameraIntrinsics()
ci2 = CameraIntrinsics()
ntools.assert_true(ci1 == ci2)
ntools.assert_false(ci1 != ci2)
ci1 = CameraIntrinsics(2, (10, 10), 3, 1)
ci2 = CameraIntrinsics(2, (11, 10), 3, 0.1)
ntools.assert_false(ci1 == ci2)
ntools.assert_true(ci1 != ci2)
def intrinsics(self):
"""
:return: a reference to this camera's intrinsics object
:rtype: CameraIntrinsics
"""
cam_int = self.VITAL_LIB['vital_camera_intrinsics']
cam_int.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_int.restype = CameraIntrinsics.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_int(self, eh)
return CameraIntrinsics(from_cptr=c_ptr)
def test_new(self):
# just seeing that basic construction doesn't blow up
cam = Camera()
c = EigenArray(3)
r = Rotation()
ci = CameraIntrinsics()
cam = Camera(c, r, ci)
def intrinsics(self):
"""
:return: a reference to this camera's intrinsics object
:rtype: CameraIntrinsics
"""
cam_int = self.VITAL_LIB['vital_camera_intrinsics']
cam_int.argtypes = [self.c_ptr_type(), VitalErrorHandle.c_ptr_type()]
cam_int.restype = CameraIntrinsics.c_ptr_type()
with VitalErrorHandle() as eh:
c_ptr = cam_int(self, eh)
return CameraIntrinsics(from_cptr=c_ptr)
def test_clone(self):
# clone should have the same values as original but be a different
# memory address.
R = Rotation()
K = CameraIntrinsics(1000, (640, 480))
c1 = Camera((0, 3, 5), R, K)
c2 = c1.clone()
# Different mem address
nose.tools.assert_not_equal(ctypes.addressof(c1.c_pointer.contents),
ctypes.addressof(c2.c_pointer.contents))
numpy.testing.assert_equal(c1.center, c2.center)
nose.tools.assert_equal(c1.rotation, c2.rotation)
nose.tools.assert_equal(c1.intrinsics, c2.intrinsics)
def test_clone_look_at(self):
pp = EigenArray.from_iterable([300, 400])
k = CameraIntrinsics(1000, pp)
focus = EigenArray.from_iterable([0, 1, -2])
base = Camera([3, -4, 7], Rotation(), k)
cam = base.clone_look_at(focus)
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project(focus)
nose.tools.assert_almost_equal(numpy.linalg.norm(ifocus - pp, 2), 0.,
12)
ifocus_up = cam.project(focus + EigenArray.from_iterable([0, 0, 2]))
tmp = ifocus_up - pp
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
def test_clone_look_at(self):
pp = EigenArray.from_array([[300], [400]])
k = CameraIntrinsics(1000, [300, 400])
focus = EigenArray.from_array([[0], [1], [-2]])
center = EigenArray.from_array([[3], [-4], [7]])
base = Camera(center, Rotation(), k)
cam = base.clone_look_at(numpy.array([0, 1, 2]))
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project([0, 1, 2])
nose.tools.assert_almost_equal(
numpy.linalg.norm(ifocus - pp.get_matrix().T, 2), 0., 12)
ifocus_up = cam.project([0, 1, 4])
tmp = (ifocus_up - pp.get_matrix().T)[0]
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
def init_cameras(num_cams=20, intrinsics=None):
"""
Initialize camera sequence with all cameras at the same location (0, 0, 1)
and looking at origin.
:param num_cams: Number of cameras to create, default 20.
:param intrinsics: Intrinsics to use for all cameras.
:return: Camera map of initialize cameras
"""
if intrinsics is None:
intrinsics = CameraIntrinsics(1000, (640, 480))
r = Rotation()
c = EigenArray.from_iterable((0, 0, 1))
d = {}
for i in range(num_cams):
cam = Camera(c, r, intrinsics).clone_look_at([0, 0, 0], [0, 1, 0])
d[i] = cam
return CameraMap(d)
def camera_seq(num_cams=20, k=None):
"""
Create a camera sequence (elliptical path)
:param num_cams: Number of cameras. Default is 20
:param k: Camera intrinsics to use for all created cameras. Default has
focal length = 1000 and principle point of (640, 480).
:return:
"""
if k is None:
k = CameraIntrinsics(1000, [640, 480])
d = {}
r = Rotation() # identity
for i in xrange(num_cams):
frac = float(i) / num_cams
x = 4 * math.cos(2 * frac)
y = 3 * math.sin(2 * frac)
d[i] = Camera([x, y, 2 + frac], r, k).clone_look_at([0, 0, 0])
return CameraMap(d)
def test_read_write_krtd_file(self):
# Use a random string filename to avoid name collision.
fname = 'temp_camera_test_read_write_krtd_file.txt'
try:
for _ in range(100):
c = (rand(3) * 2 - 1) * 100
center = EigenArray.from_iterable(c)
rotation = Rotation.random()
intrinsics = CameraIntrinsics(focal_length=rand(1) * 1e4,
principle_point=rand(2) * 1000,
aspect_ratio=rand(1),
skew=0.,
dist_coeffs=rand(3))
c1 = Camera(center=center,
rotation=rotation,
intrinsics=intrinsics)
c1.write_krtd_file(fname)
c2 = Camera.from_krtd_file(fname)
err = numpy.linalg.norm(c1.center - c2.center)
assert err < 1e-9, ''.join(
['Centers are different by ',
str(err)])
c1.rotation.angle_from(c2.rotation) < 1e-12
attr = [
'focal_length', 'aspect_ratio', 'principle_point', 'skew',
'dist_coeffs'
]
for att in attr:
v1 = numpy.array(getattr(c1.intrinsics, att))
v2 = numpy.array(getattr(c2.intrinsics, att))
err = numpy.linalg.norm(v1 - v2)
assert err < 1e-8, ''.join(
['Difference ',
str(err), ' for attribute: ', att])
finally:
if os.path.isfile(fname):
os.remove(fname)
def _new(self, center, rotation, intrinsics):
cam_new = self.VITAL_LIB['vital_camera_new']
cam_new.argtypes = [EigenArray.c_ptr_type(3, 1, ctypes.c_double),
Rotation.c_ptr_type(ctypes.c_double),
CameraIntrinsics.c_ptr_type(),
VitalErrorHandle.c_ptr_type()]
cam_new.restype = self.c_ptr_type()
# Fill in parameter gaps
if center is None:
center = EigenArray(3)
center[:] = 0
else:
center = EigenArray.from_iterable(center)
if rotation is None:
rotation = Rotation()
if intrinsics is None:
intrinsics = CameraIntrinsics()
with VitalErrorHandle() as eh:
return cam_new(center, rotation, intrinsics, eh)
def test_get_focal_length(self):
ntools.assert_equal(CameraIntrinsics().focal_length, 1.)
ntools.assert_equal(CameraIntrinsics(5.2).focal_length, 5.2)
def test_as_matrix(self):
numpy.testing.assert_equal(CameraIntrinsics().as_matrix(),
numpy.eye(3))
numpy.testing.assert_equal(
CameraIntrinsics(10, (2, 3), 2, 5).as_matrix(),
[[10, 5, 2], [0, 5, 3], [0, 0, 1]])
def test_get_dist_coeffs(self):
numpy.testing.assert_array_equal(CameraIntrinsics().dist_coeffs,
numpy.zeros((0, 1)))
numpy.testing.assert_array_equal(
CameraIntrinsics(dist_coeffs=(10, 4, 32, 1.1)).dist_coeffs,
[[10], [4], [32], [1.1]])
def test_get_skew(self):
ntools.assert_equal(CameraIntrinsics().skew, 0.)
ntools.assert_equal(CameraIntrinsics(skew=1.).skew, 1.)
def test_get_aspect_ratio(self):
ntools.assert_equal(CameraIntrinsics().aspect_ratio, 1.)
ntools.assert_equal(
CameraIntrinsics(aspect_ratio=2.1).aspect_ratio, 2.1)
def test_get_principle_point(self):
numpy.testing.assert_array_equal(CameraIntrinsics().principle_point,
[[0], [0]])
numpy.testing.assert_array_equal(
CameraIntrinsics(principle_point=(10, 2.3)).principle_point,
[[10], [2.3]])
def test_default_init(self):
CameraIntrinsics()
def test_get_principal_point(self):
numpy.testing.assert_array_equal(CameraIntrinsics().principal_point,
[0, 0])
numpy.testing.assert_array_equal(
CameraIntrinsics(principal_point=(10, 2.3)).principal_point,
[10, 2.3])
def test_full_init(self):
CameraIntrinsics(10, (5, 5), 1.2, 3.1, [4, 5, 6])