def test_set_camera_intrisics(self):
# overwrite parameters
self._cam_info.intrinsic = np.array([390, 390, 320, 240])
self._cam_info.intrinsics_conversion_mode = 'fov'
K_test = np.asarray([[2666.67, 0, 960], [0, 2666.67, 540], [0, 0, 1]])
# set camera and get matrix
camera.set_camera_info(bpy.context.scene, self._cam.data,
self._cam_info)
K = np.asarray(
camera.get_calibration_matrix(bpy.context.scene, self._cam.data))
# test
npt.assert_almost_equal(
K_test,
K,
decimal=2,
err_msg=
'Error while setting camera from intrinsics with conv. mode "fov"')
# overwrite parameters
self._cam_info.intrinsics_conversion_mode = 'mm'
K_test = np.asarray([[2666.67, 0, 960], [0, 2666.67, 540], [0, 0, 1]])
# set camera and get amtrix
camera.set_camera_info(bpy.context.scene, self._cam.data,
self._cam_info)
K = np.asarray(
camera.get_calibration_matrix(bpy.context.scene, self._cam.data))
# test
npt.assert_almost_equal(
K_test,
K,
decimal=2,
err_msg=
'Error while setting camera from intrinsics with conv. mode "mm"')
def setup_cameras(self):
"""Setup camera, and place at a default location"""
# get scene
scene = bpy.context.scene
# add camera, update with calibration data, and make it active for the scene
bpy.ops.object.add(type='CAMERA', location=(0.66, -0.66, 0.5))
self.cam_obj = bpy.context.object
self.cam = self.cam_obj.data
camera_utils.set_camera_info(scene, self.cam, self.config.camera_info)
# re-set camera and set rendering size
bpy.context.scene.camera = self.cam_obj
if (self.config.camera_info.width >
0) and (self.config.camera_info.height > 0):
bpy.context.scene.render.resolution_x = self.config.camera_info.width
bpy.context.scene.render.resolution_y = self.config.camera_info.height
# look at center
blnd.look_at(self.cam_obj, Vector((0.0, 0.0, 0.0)))
# get effective extrinsics
effective_intrinsic = camera_utils.get_intrinsics(scene, self.cam)
# store in configuration (and backup original values)
if self.config.camera_info.intrinsic is not None:
self.config.camera_info.original_intrinsic = self.config.camera_info.intrinsic
else:
self.config.camera_info.original_intrinsic = ''
self.config.camera_info.intrinsic = list(effective_intrinsic)
def test_set_camera_hfov(self):
"test setting up camera with field of view"
# overwrite parameters
self._cam_info.hfov = 78.694
K_test = np.asarray([[73.2517014, 0, 960], [0, 73.2517014, 540], [0, 0, 1]])
# set camera and get matrix
camera.set_camera_info(bpy.context.scene, self._cam.data, self._cam_info)
K = np.asarray(camera.get_calibration_matrix(bpy.context.scene, self._cam.data))
# test
npt.assert_almost_equal(K_test, K, err_msg='Error while setting camera from hfov')
def test_set_camera_swfl(self):
"test setting up camera with sensor-width and focal length"
# overwrite parameters
self._cam_info.sensor_width = 1.89882275303
self._cam_info.focal_length = 1.158
K_test = np.asarray([[1170.91, 0, 960], [0, 1170.91, 540], [0, 0, 1]])
# set camera and get matrix
camera.set_camera_info(bpy.context.scene, self._cam.data, self._cam_info)
K = np.asarray(camera.get_calibration_matrix(bpy.context.scene, self._cam.data))
# test
npt.assert_almost_equal(K_test, K, decimal=2, err_msg='Error while setting camera from swfl')
def setup_cameras(self):
"""Set up all cameras.
Note that this does not select a camera for which to render. This will
be selected elsewhere.
"""
scene = bpy.context.scene
for cam in self.config.scene_setup.cameras:
# first get the camera name. This depends on the scene (blend file)
cam_name = self.get_camera_name(cam)
# select the camera. Blender often operates on the active object, to
# make sure that this happens here, we select it
blnd.select_object(cam_name)
# modify camera according to the intrinsics
blender_camera = bpy.data.objects[cam_name].data
# set the calibration matrix
camera_utils.set_camera_info(scene, blender_camera, self.config.camera_info)