def _calculate_extrinsics(self):
p3w = self._example['p3w']
p3c = self._example['p3c']
R, t, k = calculate_extrinsics(np.reshape(p3w, (-1, 3)),
np.reshape(p3c, (-1, 3)))
assert (np.allclose(k, 1.0, atol=1e-3))
self.attrs['r'] = np.array(euler_from_matrix_nh(R), dtype=np.float32)
self.attrs['t'] = t
def _test_example_extrinsics(self, example):
actual = {'k': 1.0}
expected = {}
p3w, p3c, actual['r'], actual['t'] = (example[k].astype(
np.float32) for k in ['p3w', 'p3c', 'r', 't'])
actual['R'] = euler_matrix_nh(*actual['r'])
expected['R'], expected['t'], expected['k'] = \
calculate_extrinsics(
np.reshape(p3w, (-1, 3)), np.reshape(p3c, (-1, 3)))
expected['r'] = np.array(euler_from_matrix_nh(expected['R']))
assert (len(actual) == len(expected))
for k in ['R', 'r', 't', 'k']:
np.testing.assert_allclose(actual[k], expected[k], atol=1.0)
def test_camera_extrinsics(self):
from human_pose_util.transforms.np_impl import euler_matrix_nh
from human_pose_util.transforms.np_impl import euler_from_matrix_nh
# from transformations import euler_from_matrix
n = 1000
A = np.random.uniform(size=(n, 3))
r = np.random.uniform(size=(3, ))
t = np.random.uniform(-1, 1, size=(3, ))
R = euler_matrix_nh(r[0], r[1], r[2])
k = 1.3
B = k * np.dot(A, R.T) + t
actual_R, actual_t, actual_k = calculate_extrinsics(A, B)
np.testing.assert_allclose(actual_R, R)
np.testing.assert_allclose(actual_t, t)
np.testing.assert_allclose(actual_k, k)
actual_r = euler_from_matrix_nh(actual_R)
np.testing.assert_allclose(actual_r, r)