def test_construct_rigid_transformation():
tiny = 0.0001
rot_m = mat.construct_rx_matrix(np.pi / 2)
vm.validate_rotation_matrix(rot_m)
trans_v = np.array([[10], [10], [10]])
vm.validate_translation_column_vector(trans_v)
rigid_transformation = mat.construct_rigid_transformation(rot_m, trans_v)
vm.validate_rigid_matrix(rigid_transformation)
assert np.abs(rigid_transformation[0][0] - 1) < tiny
assert np.abs(rigid_transformation[0][1]) < tiny
assert np.abs(rigid_transformation[0][2]) < tiny
assert np.abs(rigid_transformation[0][3] - 10) < tiny
assert np.abs(rigid_transformation[1][0]) < tiny
assert np.abs(rigid_transformation[1][1]) < tiny
assert np.abs(rigid_transformation[1][2] + 1) < tiny
assert np.abs(rigid_transformation[1][3] - 10) < tiny
assert np.abs(rigid_transformation[2][0]) < tiny
assert np.abs(rigid_transformation[2][1] - 1) < tiny
assert np.abs(rigid_transformation[2][2]) < tiny
assert np.abs(rigid_transformation[2][3] - 10) < tiny
assert np.abs(rigid_transformation[3][0]) < tiny
assert np.abs(rigid_transformation[3][1]) < tiny
assert np.abs(rigid_transformation[3][2]) < tiny
assert np.abs(rigid_transformation[3][3] - 1) < tiny
def set_left_to_right(self, left_to_right):
"""
Sets the left_to_right transform (stereo extrinsics).
:param left_to_right: 4x4 numpy ndarray, rigid transform
"""
vm.validate_rigid_matrix(left_to_right)
self.left_to_right = left_to_right
def set_camera_pose(self, camera_to_world):
"""
Sets the camera position and orientation, from a numpy 4x4 array.
:param camera_to_world: camera_to_world transform.
"""
vm.validate_rigid_matrix(camera_to_world)
self.camera_to_world = camera_to_world
vtk_cam = self.get_foreground_camera()
vtk_mat = mu.create_vtk_matrix_from_numpy(camera_to_world)
cm.set_camera_pose(vtk_cam, vtk_mat, self.opencv_style)
self.Render()
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_rigid_matrix_valid_because_identity():
vm.validate_rigid_matrix(np.eye(4))
def test_rigid_matrix_invalid_because_wrong_columns():
with pytest.raises(ValueError):
vm.validate_rigid_matrix(np.ones((4, 2)))
def test_rigid_matrix_invalid_because_wrong_dimensions():
with pytest.raises(ValueError):
vm.validate_rigid_matrix(np.ones((2, 1, 2)))
def test_rigid_matrix_invalid_because_wrong_type():
with pytest.raises(TypeError):
vm.validate_rigid_matrix(None)