def set_camera_matrix(self, camera_matrix):
"""
Sets the camera projection matrix from a numpy 3x3 array.
:param camera_matrix: numpy 3x3 ndarray containing fx, fy, cx, cy
"""
vm.validate_camera_matrix(camera_matrix)
self.camera_matrix = camera_matrix
opengl_mat, vtk_mat = self.__update_projection_matrix()
self.Render()
return opengl_mat, vtk_mat
def _validate_input_for_projection(points,
camera_to_world,
camera_matrix,
distortion=None):
"""
Validation of input, for both project_points and
project_facing_points.
:param points: nx3 ndarray representing 3D points, typically in millimetres
:param camera_to_world: 4x4 ndarray representing camera_to_world transform
:param camera_matrix: 3x3 ndarray representing OpenCV camera intrinsics
:param distortion: 1x4,5 etc. OpenCV distortion parameters
:raises ValueError, TypeError:
:return: nx2 ndarray representing 2D points, typically in pixels
"""
if points is None:
raise ValueError('points is NULL')
if not isinstance(points, np.ndarray):
raise TypeError('points is not an np.ndarray')
if len(points.shape) != 2:
raise ValueError("points should have 2 dimensions.")
if points.shape[1] != 3:
raise ValueError("points should have 3 columns.")
if camera_to_world is None:
raise ValueError('camera_to_world is NULL')
vm.validate_rigid_matrix(camera_to_world)
if camera_matrix is None:
raise ValueError('camera_matrix is NULL')
vm.validate_camera_matrix(camera_matrix)
if distortion is not None:
vm.validate_distortion_coefficients(distortion)
def test_camera_matrix_valid():
camera_matrix = np.ones((3, 3))
assert vm.validate_camera_matrix(camera_matrix)
def test_camera_matrix_invalid_because_too_many_columns():
with pytest.raises(ValueError):
vm.validate_camera_matrix(np.ones((3, 4)))
def test_camera_matrix_invalid_because_too_few_rows():
with pytest.raises(ValueError):
vm.validate_camera_matrix(np.ones((1, 3)))
def test_camera_matrix_invalid_because_not_two_dimensional():
with pytest.raises(ValueError):
vm.validate_camera_matrix(np.ones((3, 3, 3)))
def test_camera_matrix_invalid_because_wrong_type():
with pytest.raises(TypeError):
vm.validate_camera_matrix(1)