def test_pymvg_roundtrip():
from pymvg.camera_model import CameraModel
from pymvg.multi_camera_system import MultiCameraSystem
from flydra_core.reconstruct import Reconstructor
# ----------- with no distortion ------------------------
center1 = np.array( (0, 0.0, 5) )
center2 = np.array( (1, 0.0, 5) )
lookat = np.array( (0,1,0))
cam1 = CameraModel.load_camera_simple(fov_x_degrees=90,
name='cam1',
eye=center1,
lookat=lookat)
cam2 = CameraModel.load_camera_simple(fov_x_degrees=90,
name='cam2',
eye=center2,
lookat=lookat)
mvg = MultiCameraSystem( cameras=[cam1, cam2] )
R = Reconstructor.from_pymvg(mvg)
mvg2 = R.convert_to_pymvg()
cam_ids = ['cam1','cam2']
for distorted in [True,False]:
for cam_id in cam_ids:
v1 = mvg.find2d( cam_id, lookat, distorted=distorted )
v2 = R.find2d( cam_id, lookat, distorted=distorted )
v3 = mvg2.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
assert np.allclose(v1,v3)
# ----------- with distortion ------------------------
cam1dd = cam1.to_dict()
cam1dd['D'] = (0.1, 0.2, 0.3, 0.4, 0.0)
cam1d = CameraModel.from_dict(cam1dd)
cam2dd = cam2.to_dict()
cam2dd['D'] = (0.11, 0.21, 0.31, 0.41, 0.0)
cam2d = CameraModel.from_dict(cam2dd)
mvgd = MultiCameraSystem( cameras=[cam1d, cam2d] )
Rd = Reconstructor.from_pymvg(mvgd)
mvg2d = Rd.convert_to_pymvg()
cam_ids = ['cam1','cam2']
for distorted in [True,False]:
for cam_id in cam_ids:
v1 = mvgd.find2d( cam_id, lookat, distorted=distorted )
v2 = Rd.find2d( cam_id, lookat, distorted=distorted )
v3 = mvg2d.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
assert np.allclose(v1,v3)
# ------------ with distortion at different focal length ------
mydir = os.path.dirname(__file__)
caldir = os.path.join(mydir,'sample_calibration')
print mydir
print caldir
R3 = Reconstructor(caldir)
mvg3 = R3.convert_to_pymvg()
#R4 = Reconstructor.from_pymvg(mvg3)
mvg3b = MultiCameraSystem.from_mcsc( caldir )
for distorted in [True,False]:
for cam_id in R3.cam_ids:
v1 = R3.find2d( cam_id, lookat, distorted=distorted )
v2 = mvg3.find2d( cam_id, lookat, distorted=distorted )
#v3 = R4.find2d( cam_id, lookat, distorted=distorted )
v4 = mvg3b.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
#assert np.allclose(v1,v3)
assert np.allclose(v1,v4)
