def test_distortion():
base = CameraModel.load_camera_default()
lookat = np.array( (0.0, 0.0, 0.0) )
up = np.array( (0.0, 0.0, 1.0) )
cams = []
cams.append( base.get_view_camera(eye=np.array((1.0,0.0,1.0)),lookat=lookat,up=up) )
distortion1 = np.array( [0.2, 0.3, 0.1, 0.1, 0.1] )
cam_wide = CameraModel.load_camera_simple(name='cam_wide',
fov_x_degrees=90,
eye=np.array((-1.0,-1.0,0.7)),
lookat=lookat,
distortion_coefficients=distortion1,
)
cams.append(cam_wide)
cam_ids = []
for i in range(len(cams)):
cams[i].name = 'cam%02d'%i
cam_ids.append(cams[i].name)
cam_system = MultiCameraSystem(cams)
R = reconstruct.Reconstructor.from_pymvg(cam_system)
for cam_id in cam_ids:
nl_params = R.get_intrinsic_nonlinear(cam_id)
mvg_cam = cam_system.get_camera_dict()[cam_id]
assert np.allclose(mvg_cam.distortion, nl_params)
def _get_cams(with_distortion):
base = CameraModel.load_camera_default()
lookat = np.array((0.0, 0.0, 0.0))
up = np.array((0.0, 0.0, 1.0))
cams = []
cams.append(
base.get_view_camera(eye=np.array((1.0, 0.0, 1.0)),
lookat=lookat,
up=up))
cams.append(
base.get_view_camera(eye=np.array((1.2, 3.4, 5.6)),
lookat=lookat,
up=up))
cams.append(
base.get_view_camera(eye=np.array((0, 0.3, 1.0)), lookat=lookat,
up=up))
if with_distortion:
distortion1 = np.array([0.2, 0.3, 0.1, 0.1, 0.1])
else:
distortion1 = np.zeros((5, ))
cam_wide = CameraModel.load_camera_simple(
name='cam_wide',
fov_x_degrees=90,
eye=np.array((-1.0, -1.0, 0.7)),
lookat=lookat,
distortion_coefficients=distortion1,
)
cams.append(cam_wide)
for i in range(len(cams)):
cams[i].name = 'cam%02d' % i
cam_system = MultiCameraSystem(cams)
reconstructor = Reconstructor.from_pymvg(cam_system)
result = dict(
cams=cams,
cam_system=cam_system,
reconstructor=reconstructor,
)
return result
def build_example_system(n=6,z=5.0):
base = CameraModel.load_camera_default()
x = np.linspace(0, 2*n, n)
theta = np.linspace(0, 2*np.pi, n)
cams = []
for i in range(n):
# cameras are spaced parallel to the x axis
center = np.array( (x[i], 0.0, z) )
# cameras are looking at +y
lookat = center + np.array( (0,1,0))
# camera up direction rotates around the y axis
up = -np.sin(theta[i]), 0, np.cos(theta[i])
cam = base.get_view_camera(center,lookat,up)
cam.name = 'theta: %.0f'%( np.degrees(theta[i]) )
cams.append(cam)
system = MultiCameraSystem(cams)
return system
def build_example_system(n=6, z=5.0):
base = CameraModel.load_camera_default()
x = np.linspace(0, 2 * n, n)
theta = np.linspace(0, 2 * np.pi, n)
cams = []
for i in range(n):
# cameras are spaced parallel to the x axis
center = np.array((x[i], 0.0, z))
# cameras are looking at +y
lookat = center + np.array((0, 1, 0))
# camera up direction rotates around the y axis
up = -np.sin(theta[i]), 0, np.cos(theta[i])
cam = base.get_view_camera(center, lookat, up)
cam.name = 'theta: %.0f' % (np.degrees(theta[i]))
cams.append(cam)
system = MultiCameraSystem(cams)
return system