def test_center_initialized(self):
expected_c = EigenArray(3)
expected_c.get_matrix()[:] = [[1], [2], [3]]
cam = Camera(expected_c)
numpy.testing.assert_array_equal(
numpy.array([cam.center]).T, expected_c.get_matrix())
numpy.testing.assert_array_equal(cam.center, [1, 2, 3])
def test_dynamic_size_init(self):
a = EigenArray(2, dynamic_rows=True).get_matrix()
ntools.assert_equal(a.shape, (2, 1))
a = EigenArray(300, dynamic_rows=True).get_matrix()
ntools.assert_equal(a.shape, (300, 1))
a = EigenArray(1234, 256, dynamic_rows=True,
dynamic_cols=True).get_matrix()
ntools.assert_equal(a.shape, (1234, 256))
def test_mutability(self):
a = EigenArray(2, 3)
d = a.get_matrix() # The data pointer
for i in range(2):
for j in range(3):
d[i][j] = 0
numpy.testing.assert_array_equal(a.get_matrix(),
[[0, 0, 0], [0, 0, 0]])
d[:] = 1
numpy.testing.assert_array_equal(a.get_matrix(),
[[1, 1, 1], [1, 1, 1]])
d[1, 0] = 2
numpy.testing.assert_array_equal(a.get_matrix(),
[[1, 1, 1], [2, 1, 1]])
d[:, 2] = 3
numpy.testing.assert_array_equal(a.get_matrix(),
[[1, 1, 3], [2, 1, 3]])
d += 1
numpy.testing.assert_array_equal(a.get_matrix(),
[[2, 2, 4], [3, 2, 4]])
b = d * 0
numpy.testing.assert_array_equal(a.get_matrix(),
[[2, 2, 4], [3, 2, 4]])
numpy.testing.assert_array_equal(b, [[0, 0, 0], [0, 0, 0]])
def test_from_array_1D(self):
# 1-dim iterables/vectors are treated as column vectors
input = [[1], [2], [3], [4]]
expected = [[1], [2], [3], [4]]
e = EigenArray.from_array(input)
em = e.get_matrix()
numpy.testing.assert_equal(em, expected)
e2 = EigenArray.from_array(em)
em2 = e2.get_matrix()
numpy.testing.assert_equal(em, em2)
def test_matrix_init(self):
# Test that construction does not fail when passing valid matrices as
# initializer
m1 = [[0, 1, 3], [0.3, 0.1, 10], [-1, 8.1, 4.7]]
m2_d = EigenArray.from_array(m1, 'd')
m2_f = EigenArray.from_array(m1, 'f')
Homography.from_matrix(m1, 'd')
Homography.from_matrix(m1, 'f')
Homography.from_matrix(m2_d.get_matrix(), 'd')
Homography.from_matrix(m2_d.get_matrix(), 'f')
Homography.from_matrix(m2_f.get_matrix(), 'd')
Homography.from_matrix(m2_f.get_matrix(), 'f')
def test_point_map(self):
h_f = Homography('f')
h_d = Homography('d')
p_af = EigenArray.from_array([[2.2, 3.3]], 'f')
p_f = p_af.get_matrix()[0]
p_ad = EigenArray.from_array([[5.5, 6.6]], 'd')
p_d = p_ad.get_matrix()[0]
# float-float
numpy.testing.assert_almost_equal(h_f.map(p_f), p_f)
# float-double
numpy.testing.assert_almost_equal(h_f.map(p_d), p_d)
# double-float
numpy.testing.assert_almost_equal(h_d.map(p_f), p_f)
# double-double
numpy.testing.assert_almost_equal(h_d.map(p_d), p_d)
# Code to generate truth
h = numpy.random.rand(3, 3)
h = h / numpy.linalg.norm(h)
p0 = numpy.random.rand(3)
p0[2] = 1
p1 = numpy.dot(h, p0)
p1 = p1[:2] / p1[2]
h_d = Homography.from_matrix(h, 'd')
# map from Numpy array.
numpy.testing.assert_almost_equal(h_d.map(p0[:2]).ravel(), p1)
# map from EigenArray
p0 = EigenArray.from_array([p0[:2]])
numpy.testing.assert_almost_equal(
h_d.map(p0.get_matrix()[0]).ravel(), p1)
# Another explicit case.
p0 = numpy.array([1923.47, 645.676, 1])
h = numpy.array(
[[
5.491496261770000276e-01, -1.125428185150000038e-01,
1.358427031619999923e+02
],
[
-1.429513389049999993e-02, 6.035527375529999849e-01,
5.923971959490000216e+01
], [-2.042570000000000164e-06, -2.871670000000000197e-07, 1]])
p1 = numpy.dot(h, p0)
p1 = p1[:2] / p1[2]
H = Homography.from_matrix(h)
P = EigenArray.from_array([p0[:2]])
numpy.testing.assert_almost_equal(H.map(P.get_matrix()[0]).ravel(), p1)
def test_valid_static_size_init(self):
"""
Test construction of some of the static sizes.
"""
a = EigenArray().get_matrix() # default shape
ntools.assert_equal(a.shape, (2, 1))
a = EigenArray(2, 1).get_matrix()
ntools.assert_equal(a.shape, (2, 1))
a = EigenArray(2, 2).get_matrix()
ntools.assert_equal(a.shape, (2, 2))
a = EigenArray(4, 4).get_matrix()
ntools.assert_equal(a.shape, (4, 4))
def test_new(self):
# just seeing that basic construction doesn't blow up
cam = Camera()
c = EigenArray(3)
r = Rotation()
ci = CameraIntrinsics()
cam = Camera(c, r, ci)
def test_clone_look_at(self):
pp = EigenArray.from_array([[300], [400]])
k = CameraIntrinsics(1000, [300, 400])
focus = EigenArray.from_array([[0], [1], [-2]])
center = EigenArray.from_array([[3], [-4], [7]])
base = Camera(center, Rotation(), k)
cam = base.clone_look_at(numpy.array([0, 1, 2]))
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project([0, 1, 2])
nose.tools.assert_almost_equal(
numpy.linalg.norm(ifocus - pp.get_matrix().T, 2), 0., 12)
ifocus_up = cam.project([0, 1, 4])
tmp = (ifocus_up - pp.get_matrix().T)[0]
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
def test_equal(self):
cam1 = Camera()
cam2 = Camera()
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
center = EigenArray.from_array([[1], [2], [3]])
rotation = Rotation.from_axis_angle([0, 1, 0], math.pi / 2.)
cam1 = Camera(center, rotation)
cam2 = Camera(center, rotation)
nose.tools.assert_equal(cam1, cam1)
nose.tools.assert_equal(cam1, cam2)
def test_to_from_string(self):
cam = Camera()
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print("Default camera string:\n%s" % cam_s)
print("Default newcam string:\n%s" % cam2.as_string())
nose.tools.assert_equal(cam, cam2)
center = EigenArray.from_array([[1], [2], [3]])
rotation = Rotation.from_axis_angle([0, 1, 0], math.pi / 2.)
cam = Camera(center, rotation)
cam_s = cam.as_string()
cam2 = Camera.from_string(cam_s)
print("Custom camera string:\n%s" % cam_s)
print("Custom newcam string:\n%s" % cam2.as_string())
nose.tools.assert_equal(cam, cam2)
def init_cameras(num_cams=20, intrinsics=None):
"""
Initialize camera sequence with all cameras at the same location (0, 0, 1)
and looking at origin.
:param num_cams: Number of cameras to create, default 20.
:param intrinsics: Intrinsics to use for all cameras.
:return: Camera map of initialize cameras
"""
if intrinsics is None:
intrinsics = CameraIntrinsics(1000, (640, 480))
r = Rotation()
c = EigenArray.from_iterable((0, 0, 1))
d = {}
for i in range(num_cams):
cam = Camera(c, r, intrinsics).clone_look_at([0, 0, 0],
[0, 1, 0])
d[i] = cam
return CameraMap(d)
def test_order_transform(self):
a = EigenArray(2, 3)
d = a.get_matrix() # The data pointer
# column-major 2x3 matrix [[ 1 2 3 ] (Eigen format)
# [ 4 5 6 ]]
d[0][0] = 1
d[0][1] = 2
d[0][2] = 3
d[1][0] = 4
d[1][1] = 5
d[1][2] = 6
numpy.testing.assert_array_equal(a.get_matrix(),
[[1., 2., 3.], [4., 5., 6.]])
ntools.assert_equal(a.get_matrix()[0, 0], 1)
ntools.assert_equal(a.get_matrix()[0, 1], 2)
ntools.assert_equal(a.get_matrix()[0, 2], 3)
ntools.assert_equal(a.get_matrix()[1, 0], 4)
ntools.assert_equal(a.get_matrix()[1, 1], 5)
ntools.assert_equal(a.get_matrix()[1, 2], 6)
def test_read_write_krtd_file(self):
# Use a random string filename to avoid name collision.
fname = 'temp_camera_test_read_write_krtd_file.txt'
try:
for _ in range(100):
c = (rand(3) * 2 - 1) * 100
center = EigenArray.from_array([c])
rotation = Rotation.from_quaternion(
numpy.random.rand(4) * 2 - 1)
intrinsics = CameraIntrinsics(10, (5, 5), 1.2, 0.5, [4, 5, 6])
c1 = Camera(center, rotation, intrinsics)
c1.write_krtd_file(fname)
c2 = Camera.from_krtd_file(fname)
err = numpy.linalg.norm(c1.center - c2.center)
assert err < 1e-9, ''.join(
['Centers are different by ',
str(err)])
c1.rotation.angle_from(c2.rotation) < 1e-12
attr = [
'focal_length', 'aspect_ratio', 'principle_point', 'skew',
'dist_coeffs'
]
for att in attr:
v1 = numpy.array(getattr(c1.intrinsics, att))
v2 = numpy.array(getattr(c2.intrinsics, att))
err = numpy.linalg.norm(v1 - v2)
assert err < 1e-8, ''.join(
['Difference ',
str(err), ' for attribute: ', att])
finally:
if os.path.isfile(fname):
os.remove(fname)
def test_from_array(self):
# from list
expected_list = [[0.4, 0], [1, 1.123], [2.253, 4.768124]]
ea = EigenArray.from_array(expected_list)
em = ea.get_matrix()
numpy.testing.assert_array_equal(em, expected_list)
# from ndarray
expected_ndar = numpy.array(expected_list)
ea = EigenArray.from_array(expected_ndar)
em = ea.get_matrix()
numpy.testing.assert_array_equal(em, expected_ndar)
# from EigenArray, which should return the input object
ea = EigenArray(3, 2)
em = ea.get_matrix()
em[:] = expected_list
ea2 = EigenArray.from_array(em)
em2 = ea2.get_matrix()
numpy.testing.assert_array_equal(em2, em)
def test_new_matrix(self):
a = EigenArray(2, 2, type='d')
m = a.get_matrix()
m[:] = 1.
c = Covariance.from_matrix(2, 'd', m)
m_out = c.to_matrix()
print('input matrix:\n', m)
print('output matrix:\n', m_out)
numpy.testing.assert_array_equal(m_out, m)
# Type casting should be handled
a = EigenArray(2, 2, type='f')
m = a.get_matrix()
m[:] = 1.
c = Covariance.from_matrix(2, 'd', m)
m_out = c.to_matrix()
print('input matrix:\n', m)
print('output matrix:\n', m_out)
numpy.testing.assert_array_equal(m_out, m)
# Any other numpy array of the correct shape should be acceptable
m = numpy.ndarray((2, 2))
m[:] = 3.
c = Covariance.from_matrix(2, 'f', init=m)
m_out = c.to_matrix()
print('input matrix:\n', m)
print('output matrix:\n', m_out)
numpy.testing.assert_array_equal(m_out, m)
# Diagonally congruent values should be averages when initializing with
# matrix
m = numpy.eye(3, dtype=numpy.double)
m[0, 2] = 2.
m_expected = m.copy()
m_expected[0, 2] = 1.
m_expected[2, 0] = 1.
c = Covariance.from_matrix(3, init=m)
m_out = c.to_matrix()
print('input matrix:\n', m)
print('output matrix:\n', m_out)
numpy.testing.assert_array_equal(m_out, m_expected)
def test_norm(self):
e = EigenArray.from_array([[1], [2], [3], [4]])
numpy.linalg.norm(e.get_matrix()) == numpy.sqrt(1 + 4 + 9 + 16)
def test_translation_initialized(self):
center = EigenArray.from_array([[1], [2], [3]])
rotation = Rotation.from_axis_angle([0, 1, 0], math.pi / 2.)
cam = Camera(center, rotation)
numpy.testing.assert_array_equal(cam.translation,
-(rotation * center.get_matrix()))
def random_point_3d(stddev):
pt = [[numpy.random.normal(0., stddev)],
[numpy.random.normal(0., stddev)],
[numpy.random.normal(0., stddev)]]
return EigenArray.from_iterable(pt, target_shape=(3, 1))
def test_rotation_initialized(self):
center = EigenArray.from_array([[1], [2], [3]])
r_expected = Rotation.from_axis_angle([0, 1, 0], math.pi / 8)
cam = Camera(center, r_expected)
nose.tools.assert_is_not(cam.rotation, r_expected)
nose.tools.assert_equal(cam.rotation, r_expected)
