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_size(self):
m = {
0: Camera(),
1: Camera(),
5: Camera()
}
cm = CameraMap(m)
nose.tools.assert_equal(cm.size, 3)
def test_depth(self):
cam = Camera()
pos_pt = numpy.array([1, 0, 1])
neg_pt = numpy.array([0, 0, -100])
nose.tools.assert_equal(cam.depth(pos_pt), 1)
nose.tools.assert_equal(cam.depth(neg_pt), -100)
def test_as_dict(self):
m = {
0: Camera(),
1: Camera(),
5: Camera()
}
cm = CameraMap(m)
m2 = cm.as_dict()
nose.tools.assert_equal(m, m2)
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_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_rotation_default(self):
cam = Camera()
# Should be identity by default
numpy.testing.assert_array_equal(
cam.rotation.matrix(),
numpy.eye(3),
)
def test_covariance_default(self):
cam = Camera()
# Should be default value of an identity matrix
numpy.testing.assert_array_equal(
cam.covariance.to_matrix(),
numpy.eye(3),
)
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_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 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 noisy_cameras(cam_map, pos_stddev=1., rot_stddev=1.):
"""
Add positional and rotational gaussian noise to cameras
:type cam_map: CameraMap
:type pos_stddev: float
:type rot_stddev: float
:return: Camera map of new, noidy cameras'
"""
cmap = {}
for f, c in cam_map.as_dict().iteritems():
c2 = Camera(
c.center + random_point_3d(pos_stddev),
c.rotation * RotationD(random_point_3d(rot_stddev)),
c.intrinsics
)
cmap[f] = c2
return CameraMap(cmap)
def camera_seq(num_cams=20, k=None):
"""
Create a camera sequence (elliptical path)
:param num_cams: Number of cameras. Default is 20
:param k: Camera intrinsics to use for all created cameras. Default has
focal length = 1000 and principle point of (640, 480).
:return:
"""
if k is None:
k = CameraIntrinsics(1000, [640, 480])
d = {}
r = RotationD() # identity
for i in range(num_cams):
frac = float(i) / num_cams
x = 4 * math.cos(2*frac)
y = 3 * math.sin(2*frac)
d[i] = Camera([x, y, 2+frac], r, k).clone_look_at([0, 0, 0])
return CameraMap(d)
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 = RotationD()
c = np.array([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_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)
def test_translation_default(self):
cam = Camera()
numpy.testing.assert_array_equal(cam.translation, [0, 0, 0])
def test_center_default(self):
cam = Camera()
numpy.testing.assert_array_equal(cam.center, [0, 0, 0])
def test_asmatrix_default(self):
cam = Camera()
m_expected = numpy.matrix("1 0 0 0;" "0 1 0 0;" "0 0 1 0")
print(cam.as_matrix())
print(m_expected)
numpy.testing.assert_array_equal(cam.as_matrix(), m_expected)
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 test_init(self):
Camera()
def __init__(self, id_):
Camera.__init__(self)
self.id_ = id_
def test_no_call_virtul_image_height(self):
no_call_pure_virtual_method(Camera().image_height)
def test_no_call_virtul_image_width(self):
no_call_pure_virtual_method(Camera().image_width)
def test_no_call_virtul_project(self):
no_call_pure_virtual_method(Camera().project,
np.array([-3.14, 3.14, 6.28]))
