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)
