def test_ENU_camera_w_photosphere(self):
# Make sure we agree with conventions at
# https://developers.google.com/streetview/spherical-metadata
pitch = 0.1
roll = 0.1
wRt = Rot3.ENU_camera(pitch=pitch, roll=roll)
expected_wRr = Rot3.Rx(pitch) * Rot3.Ry(roll) # from rotated to ENU
# But our tilted frame uses the camera convention.
# TODO: maybe it should not! Why do we do this?
expected_wRt = Rot3(expected_wRr * ENU_R_CAMERA)
np.testing.assert_array_almost_equal(
wRt.matrix(), expected_wRt.matrix(), decimal=2
)
def test_ENU_camera(self):
d = 0.1 # positive pitch
wRt = Rot3.ENU_camera(pitch=d)
expected = np.transpose(np.array([[1, 0, 0], [0, d, -1], [0, 1, d]]))
np.testing.assert_array_almost_equal(wRt.matrix(), expected, decimal=2)