def setUp(self):
# Standard coordinates
self._forward = np.array([1, 0, 0])
self._above = np.array([0, 0, 1])
self._conv = CameraConverter(self._forward, self._above)
# Alternate coordinates
self._forward2 = np.array([1, 1, 1])
self._above2 = np.array([-1, -1, 2])
self._conv2 = CameraConverter(self._forward2, self._above2)
def setUp(self):
# Standard coordinates
self._forward = np.array([1, 0, 0])
self._above = np.array([0, 0, 1])
self._conv = CameraConverter(self._forward, self._above)
# Alternate coordinates
self._forward2 = np.array([1, 1, 1])
self._above2 = np.array([-1, -1, 2])
self._conv2 = CameraConverter(self._forward2, self._above2)
class CameraConverterTest(unittest.TestCase):
def setUp(self):
# Standard coordinates
self._forward = np.array([1, 0, 0])
self._above = np.array([0, 0, 1])
self._conv = CameraConverter(self._forward, self._above)
# Alternate coordinates
self._forward2 = np.array([1, 1, 1])
self._above2 = np.array([-1, -1, 2])
self._conv2 = CameraConverter(self._forward2, self._above2)
def testNonOrthogonalVectors(self):
forward = np.array([1, 1, 1])
above = np.array([1, 1, 0])
self.assertRaises(ValueError, CameraConverter, forward, above)
def testZeroLengthVectors(self):
forward = np.array([0, 0, 0])
above = np.array([1, 0, 0])
self.assertRaises(ValueError, CameraConverter, forward, above)
def testPanX(self):
direction = self._forward
pan = self._conv.get_pan(direction)
self.assertEquals(0, pan)
def testPanY(self):
direction = np.array([0, 1, 1])
pan = self._conv.get_pan(direction)
self.assertLessEqual(90, pan)
def testPanNegY(self):
direction = np.array([0, -1, 1])
pan = self._conv.get_pan(direction)
self.assertEquals(-90, pan)
def testPan111(self):
direction = np.array([1, 1, 1])
pan = self._conv.get_pan(direction)
self.assertLessEqual(abs(45 - pan), 1e-9)
def testOverPan(self):
direc = np.array([-1, .05, 2])
pan = self._conv.get_pan(direc)
self.assertEquals(170, pan)
def testNegOverPan(self):
direc = np.array([-1, -.05, 2])
pan = self._conv.get_pan(direc)
self.assertEquals(-170, pan)
def testTiltX(self):
direc = np.array([1, 0, 0])
tilt = self._conv.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltY(self):
direc = np.array([0, 1, 0])
tilt = self._conv.get_tilt(direc)
self.assertEquals(0, tilt)
def testTilt45(self):
direc = np.array([1, 0, -1])
tilt = self._conv.get_tilt(direc)
self.assertLessEqual(abs(tilt + 45), 1e-9)
def testTilt90(self):
direc = np.array([0, 0, -1])
tilt = self._conv.get_tilt(direc)
self.assertEquals(-90, tilt)
def testOverTilt(self):
direc = np.array([0, 0, 1])
tilt = self._conv.get_tilt(direc)
self.assertEquals(25, tilt)
def testPanX2(self):
direction = self._forward2
pan = self._conv2.get_pan(direction)
self.assertEquals(0, pan)
def testPanY2(self):
direction = np.array([-1, 1, 0])
pan = self._conv2.get_pan(direction)
self.assertEquals(90, pan)
def testPanNegY2(self):
direction = np.array([1, -1, 0])
pan = self._conv2.get_pan(direction)
self.assertEquals(-90, pan)
def testOverPan2(self):
direc = np.array([-1, -.95, -1])
pan = self._conv2.get_pan(direc)
self.assertEquals(170, pan)
def testNegOverPan2(self):
direc = np.array([-1, -1.05, -1])
pan = self._conv2.get_pan(direc)
self.assertEquals(-170, pan)
def testTiltX2(self):
direc = self._forward2
tilt = self._conv2.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltY2(self):
direc = np.array([-1, 1, 0])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltAngle2(self):
direc = np.array([1, 1, 0])
tilt = self._conv2.get_tilt(direc)
self.assertLessEqual(abs(tilt + 35.2644), 1e-3)
def testTilt902(self):
direc = np.array([1, 1, -2])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(-90, tilt)
def testOverTilt2(self):
direc = np.array([0, 0, 1])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(25, tilt)
def tearDown(self):
pass
class CameraConverterTest(unittest.TestCase):
def setUp(self):
# Standard coordinates
self._forward = np.array([1, 0, 0])
self._above = np.array([0, 0, 1])
self._conv = CameraConverter(self._forward, self._above)
# Alternate coordinates
self._forward2 = np.array([1, 1, 1])
self._above2 = np.array([-1, -1, 2])
self._conv2 = CameraConverter(self._forward2, self._above2)
def testNonOrthogonalVectors(self):
forward = np.array([1, 1, 1])
above = np.array([1, 1, 0])
self.assertRaises(ValueError, CameraConverter, forward, above)
def testZeroLengthVectors(self):
forward = np.array([0, 0, 0])
above = np.array([1, 0, 0])
self.assertRaises(ValueError, CameraConverter, forward, above)
def testPanX(self):
direction = self._forward
pan = self._conv.get_pan(direction)
self.assertEquals(0, pan)
def testPanY(self):
direction = np.array([0, 1, 1])
pan = self._conv.get_pan(direction)
self.assertLessEqual(90, pan)
def testPanNegY(self):
direction = np.array([0, -1, 1])
pan = self._conv.get_pan(direction)
self.assertEquals(-90, pan)
def testPan111(self):
direction = np.array([1, 1, 1])
pan = self._conv.get_pan(direction)
self.assertLessEqual(abs(45 - pan), 1e-9)
def testOverPan(self):
direc = np.array([-1, .05, 2])
pan = self._conv.get_pan(direc)
self.assertEquals(170, pan)
def testNegOverPan(self):
direc = np.array([-1, -.05, 2])
pan = self._conv.get_pan(direc)
self.assertEquals(-170, pan)
def testTiltX(self):
direc = np.array([1, 0, 0])
tilt = self._conv.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltY(self):
direc = np.array([0, 1, 0])
tilt = self._conv.get_tilt(direc)
self.assertEquals(0, tilt)
def testTilt45(self):
direc = np.array([1, 0, -1])
tilt = self._conv.get_tilt(direc)
self.assertLessEqual(abs(tilt + 45), 1e-9)
def testTilt90(self):
direc = np.array([0, 0, -1])
tilt = self._conv.get_tilt(direc)
self.assertEquals(-90, tilt)
def testOverTilt(self):
direc = np.array([0, 0, 1])
tilt = self._conv.get_tilt(direc)
self.assertEquals(25, tilt)
def testPanX2(self):
direction = self._forward2
pan = self._conv2.get_pan(direction)
self.assertEquals(0, pan)
def testPanY2(self):
direction = np.array([-1, 1, 0])
pan = self._conv2.get_pan(direction)
self.assertEquals(90, pan)
def testPanNegY2(self):
direction = np.array([1, -1, 0])
pan = self._conv2.get_pan(direction)
self.assertEquals(-90, pan)
def testOverPan2(self):
direc = np.array([-1, -.95, -1])
pan = self._conv2.get_pan(direc)
self.assertEquals(170, pan)
def testNegOverPan2(self):
direc = np.array([-1, -1.05, -1])
pan = self._conv2.get_pan(direc)
self.assertEquals(-170, pan)
def testTiltX2(self):
direc = self._forward2
tilt = self._conv2.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltY2(self):
direc = np.array([-1, 1, 0])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(0, tilt)
def testTiltAngle2(self):
direc = np.array([1, 1, 0])
tilt = self._conv2.get_tilt(direc)
self.assertLessEqual(abs(tilt + 35.2644), 1e-3)
def testTilt902(self):
direc = np.array([1, 1, -2])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(-90, tilt)
def testOverTilt2(self):
direc = np.array([0, 0, 1])
tilt = self._conv2.get_tilt(direc)
self.assertEquals(25, tilt)
def tearDown(self):
pass
