def test_denormlize_poses(self):
pose_seq_0 = pose.PoseSequence(
self.joint_names,
self.joint_tree,
self.point0_screen,
self.frame_indices,
'screen',
camera=self.camera0,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head',
z_joint_reference_coordinates=self.z_ref0)
pose_seq_1 = pose.PoseSequence(
self.joint_names,
self.joint_tree,
self.point1_screen,
self.frame_indices,
'screen',
camera=self.camera1,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head',
z_joint_reference_coordinates=self.z_ref1)
pose_seq_0.denormlize_poses()
pose_seq_1.denormlize_poses()
point0_3d_world = pose_seq_0.poses
point1_3d_world = pose_seq_1.poses
self.assertIsClose(self.point_3d_world,
point0_3d_world,
atol=1e-2,
rtol=0)
self.assertIsClose(self.point_3d_world,
point1_3d_world,
atol=1e-2,
rtol=0)
def test_normlize_poses(self):
pose_seq_0 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point_3d_world,
self.frame_indices,
'world',
camera=self.camera0,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head')
pose_seq_1 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point_3d_world,
self.frame_indices,
'world',
camera=self.camera1,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head')
pose_seq_0.normlize_poses()
pose_seq_1.normlize_poses()
point0_screen = pose_seq_0.poses
point1_screen = pose_seq_1.poses
self.assertIsClose(self.point0_screen,
point0_screen,
atol=1e-2,
rtol=0)
self.assertIsClose(self.point1_screen,
point1_screen,
atol=1e-2,
rtol=0)
def test_poses_from_camera_to_world(self):
pose_seq_0 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point0_3d_camera,
self.frame_indices,
'camera',
camera=self.camera0)
pose_seq_1 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point1_3d_camera,
self.frame_indices,
'camera',
camera=self.camera1)
pose_seq_0.poses_from_camera_to_world()
pose_seq_1.poses_from_camera_to_world()
point0_3d_world = pose_seq_0.poses
point1_3d_world = pose_seq_1.poses
self.assertIsClose(self.point_3d_world,
point0_3d_world,
atol=1e-2,
rtol=0)
self.assertIsClose(self.point_3d_world,
point1_3d_world,
atol=1e-2,
rtol=0)
def test_poses_from_normlized_device_to_camera(self):
pose_seq_0 = pose.PoseSequence(
self.joint_names,
self.joint_tree,
self.point0_normlized_device,
self.frame_indices,
'normlized_device',
camera=self.camera0,
z_joint_reference_name='head',
z_joint_reference_coordinates=self.z_ref0)
pose_seq_1 = pose.PoseSequence(
self.joint_names,
self.joint_tree,
self.point1_normlized_device,
self.frame_indices,
'normlized_device',
camera=self.camera1,
z_joint_reference_name='head',
z_joint_reference_coordinates=self.z_ref1)
pose_seq_0.poses_from_normlized_device_to_camera()
pose_seq_1.poses_from_normlized_device_to_camera()
point0_3d_camera = pose_seq_0.poses
point1_3d_camera = pose_seq_1.poses
self.assertIsClose(self.point0_3d_camera,
point0_3d_camera,
atol=1e-2,
rtol=0)
self.assertIsClose(self.point1_3d_camera,
point1_3d_camera,
atol=1e-2,
rtol=0)
def test_poses_from_screen_to_normlized_device(self):
pose_seq_0 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point0_screen,
self.frame_indices,
'screen',
camera=self.camera0,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head')
pose_seq_1 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point1_screen,
self.frame_indices,
'screen',
camera=self.camera1,
screen_size=(2048, 2048, 2048),
z_joint_reference_name='head')
pose_seq_0.poses_from_screen_to_normlized_device()
pose_seq_1.poses_from_screen_to_normlized_device()
point0_normlized_device = pose_seq_0.poses
point1_normlized_device = pose_seq_1.poses
self.assertIsClose(self.point0_normlized_device,
point0_normlized_device,
atol=1e-6,
rtol=0)
self.assertIsClose(self.point1_normlized_device,
point1_normlized_device,
atol=1e-6,
rtol=0)
def test_poses_from_camera_to_normlized_device(self):
pose_seq_0 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point0_3d_camera,
self.frame_indices,
'camera',
camera=self.camera0,
z_joint_reference_name='head')
pose_seq_1 = pose.PoseSequence(self.joint_names,
self.joint_tree,
self.point1_3d_camera,
self.frame_indices,
'camera',
camera=self.camera1,
z_joint_reference_name='head')
pose_seq_0.poses_from_camera_to_normlized_device()
pose_seq_1.poses_from_camera_to_normlized_device()
point0_normlized_device = pose_seq_0.poses
point1_normlized_device = pose_seq_1.poses
self.assertIsClose(self.point0_normlized_device,
point0_normlized_device,
atol=1e-6,
rtol=0)
self.assertIsClose(self.point1_normlized_device,
point1_normlized_device,
atol=1e-6,
rtol=0)