def test_brown_affine_regress(self):
input = np.full((3, 2), 100.)
output = np.zeros((3, 2))
correct_output_corr = [[100., 100.], [100., 100.], [100., 100.]]
correct_output_dist = [[100., 100.], [100., 100.], [100., 100.]]
# Test when passing an array for output
correct_arr_brown_affine(input, self.calibration, out=output)
np.testing.assert_array_almost_equal(output,
correct_output_corr,
decimal=7)
output = np.zeros((3, 2))
distort_arr_brown_affine(input, self.calibration, out=output)
np.testing.assert_array_almost_equal(output,
correct_output_dist,
decimal=7)
# Test when NOT passing an array for output
output = correct_arr_brown_affine(input, self.calibration, out=None)
np.testing.assert_array_almost_equal(output,
correct_output_corr,
decimal=7)
output = np.zeros((3, 2))
output = distort_arr_brown_affine(input, self.calibration, out=None)
np.testing.assert_array_almost_equal(output,
correct_output_dist,
decimal=7)
def test_brown_affine(self):
"""Distortion and correction of pixel coordinates."""
# This is all based on values from liboptv/tests/check_imgcoord.c
cal = Calibration()
cal.set_pos(np.r_[0., 0., 40.])
cal.set_angles(np.r_[0., 0., 0.])
cal.set_primary_point(np.r_[0., 0., 10.])
cal.set_glass_vec(np.r_[0., 0., 20.])
cal.set_radial_distortion(np.zeros(3))
cal.set_decentering(np.zeros(2))
cal.set_affine_trans(np.r_[1, 0])
# reference metric positions:
ref_pos = np.array([
[0.1, 0.1],
[1., -1.],
[-10., 10.]
])
# Perfect camera: distortion = identity.
distorted = distort_arr_brown_affine(ref_pos, cal)
np.testing.assert_array_almost_equal(distorted, ref_pos)
# Some small radial distortion:
cal.set_radial_distortion(np.r_[0.001, 0., 0.])
distorted = distort_arr_brown_affine(ref_pos, cal)
self.failUnless(np.all(abs(distorted) > abs(ref_pos)))
def test_brown_affine_types(self):
# Assert TypeError is raised when passing a non (n,2) shaped numpy ndarray
with self.assertRaises(TypeError):
list = [[0 for x in range(2)] for x in range(10)] # initialize a 10x2 list (but not numpy matrix)
correct_arr_brown_affine(list, self.calibration, out=None)
with self.assertRaises(TypeError):
correct_arr_brown_affine(np.empty((10, 3)), self.calibration, out=None)
with self.assertRaises(TypeError):
distort_arr_brown_affine(np.empty((2, 1)), self.calibration, out=None)
with self.assertRaises(TypeError):
distort_arr_brown_affine(np.zeros((11, 2)), self.calibration, out=np.zeros((12, 2)))
def test_full_correction(self):
"""Round trip distortion/correction."""
# This is all based on values from liboptv/tests/check_imgcoord.c
cal = Calibration()
cal.set_pos(np.r_[0., 0., 40.])
cal.set_angles(np.r_[0., 0., 0.])
cal.set_primary_point(np.r_[0., 0., 10.])
cal.set_glass_vec(np.r_[0., 0., 20.])
cal.set_radial_distortion(np.zeros(3))
cal.set_decentering(np.zeros(2))
cal.set_affine_trans(np.r_[1, 0])
# reference metric positions:
# Note the last value is different than in test_brown_affine() because
# the iteration does not converge for a point too far out.
ref_pos = np.array([
[0.1, 0.1],
[1., -1.],
[-5., 5.]
])
cal.set_radial_distortion(np.r_[0.001, 0., 0.])
distorted = distort_arr_brown_affine(ref_pos, cal)
corrected = distorted_to_flat(distorted, cal) # default tight tolerance
np.testing.assert_array_almost_equal(ref_pos, corrected, decimal=6)
def test_brown_affine_regress(self):
input = np.full((3, 2), 100.)
output = np.zeros((3, 2))
correct_output_corr = [[ 100., 100.],
[ 100., 100.],
[ 100., 100.]]
correct_output_dist= [[ 100., 100.],
[ 100., 100.],
[ 100., 100.]]
# Test when passing an array for output
correct_arr_brown_affine(input, self.calibration, out=output)
np.testing.assert_array_almost_equal(output, correct_output_corr,decimal=7)
output = np.zeros((3, 2))
distort_arr_brown_affine(input, self.calibration, out=output)
np.testing.assert_array_almost_equal(output, correct_output_dist, decimal=7)
# Test when NOT passing an array for output
output=correct_arr_brown_affine(input, self.calibration, out=None)
np.testing.assert_array_almost_equal(output, correct_output_corr,decimal=7)
output = np.zeros((3, 2))
output=distort_arr_brown_affine(input, self.calibration, out=None)
np.testing.assert_array_almost_equal(output, correct_output_dist, decimal=7)
