def test_free(self):
cam = RectifiedCamera(DefaultParams())
free_list = cam.calc_free( {"baseline_shift":0, "f_shift":0, "cx_shift":0, "cy_shift":0} )
self.assertEqual(free_list[0], False)
free_list = cam.calc_free( {"baseline_shift":1, "f_shift":0, "cx_shift":0, "cy_shift":0} )
self.assertEqual(free_list[0], True)
self.assertEqual(len(free_list), 4)
def test_project_easy_2(self):
cam = RectifiedCamera(DefaultParams())
P_list = [ 1, 0, 0,-1, \
0, 1, 0, 0, \
0, 0, 1, 0 ]
pts = matrix([[0, 1, 0, 2], [0, 1, 1, 0], [1, 1, 2, 2], [1, 1, 1, 1]],
float)
expected = matrix([[-1, 0, -.5, .5], [0, 1, .5, 0]])
result = cam.project(P_list, pts)
print ""
print result
self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
def test_free(self):
cam = RectifiedCamera(DefaultParams())
free_list = cam.calc_free({
"baseline_shift": 0,
"f_shift": 0,
"cx_shift": 0,
"cy_shift": 0
})
self.assertEqual(free_list[0], False)
free_list = cam.calc_free({
"baseline_shift": 1,
"f_shift": 0,
"cx_shift": 0,
"cy_shift": 0
})
self.assertEqual(free_list[0], True)
self.assertEqual(len(free_list), 4)
def test_project_easy_2(self):
cam = RectifiedCamera(DefaultParams())
P_list = [ 1, 0, 0,-1, \
0, 1, 0, 0, \
0, 0, 1, 0 ]
pts = matrix( [ [ 0, 1, 0, 2 ],
[ 0, 1, 1, 0 ],
[ 1, 1, 2, 2 ],
[ 1, 1, 1, 1 ]], float )
expected = matrix( [ [-1, 0,-.5,.5],
[ 0, 1, .5, 0] ] )
result = cam.project(P_list, pts)
print ""
print result
self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)
def test_deflate(self):
params = DefaultParams()
params['baseline_shift'] = 10
cam = RectifiedCamera(params)
self.assertEqual(cam.deflate()[0, 0], 10)
def test_length(self):
cam = RectifiedCamera(DefaultParams())
self.assertEqual(cam.get_length(), 4)
def test_params_to_config(self):
cam = RectifiedCamera(DefaultParams())
p = matrix([1, 0, 0, 0], float).T
config = cam.params_to_config(p)
self.assertAlmostEqual(config["baseline_shift"], 1, 6)
def test_deflate(self):
params = DefaultParams()
params['baseline_shift'] = 10
cam = RectifiedCamera(params)
self.assertEqual(cam.deflate()[0,0], 10)
def test_length(self):
cam = RectifiedCamera(DefaultParams())
self.assertEqual(cam.get_length(), 4)
def test_params_to_config(self):
cam = RectifiedCamera(DefaultParams())
p = matrix([1, 0, 0, 0], float).T
config = cam.params_to_config(p)
self.assertAlmostEqual(config["baseline_shift"], 1, 6)