def test_full_instantiate(self):
pos = numpy.r_[1., 3., 5.]
angs = numpy.r_[2., 4., 6.]
prim_point = pos * 3
rad_dist = pos * 4
decent = pos[:2] * 5
affine = decent * 1.5
glass = pos * 7
cal = Calibration(pos, angs, prim_point, rad_dist, decent, affine,
glass)
numpy.testing.assert_array_equal(pos, cal.get_pos())
numpy.testing.assert_array_equal(angs, cal.get_angles())
numpy.testing.assert_array_equal(prim_point, cal.get_primary_point())
numpy.testing.assert_array_equal(rad_dist, cal.get_radial_distortion())
numpy.testing.assert_array_equal(decent, cal.get_decentering())
numpy.testing.assert_array_equal(affine, cal.get_affine())
numpy.testing.assert_array_equal(glass, cal.get_glass_vec())
def test_full_instantiate(self):
pos = numpy.r_[1., 3., 5.]
angs = numpy.r_[2., 4., 6.]
prim_point = pos * 3
rad_dist = pos * 4
decent = pos[:2] * 5
affine = decent * 1.5
glass = pos * 7
cal = Calibration(pos, angs, prim_point, rad_dist, decent, affine,
glass)
numpy.testing.assert_array_equal(pos, cal.get_pos())
numpy.testing.assert_array_equal(angs, cal.get_angles())
numpy.testing.assert_array_equal(prim_point, cal.get_primary_point())
numpy.testing.assert_array_equal(rad_dist, cal.get_radial_distortion())
numpy.testing.assert_array_equal(decent, cal.get_decentering())
numpy.testing.assert_array_equal(affine, cal.get_affine())
numpy.testing.assert_array_equal(glass, cal.get_glass_vec())
class TestGradientDescent(unittest.TestCase):
# Based on the C tests in liboptv/tests/check_orientation.c
def setUp(self):
control_file_name = r'testing_fodder/corresp/control.par'
self.control = ControlParams(4)
self.control.read_control_par(control_file_name)
self.cal = Calibration()
self.cal.from_file("testing_fodder/calibration/cam1.tif.ori",
"testing_fodder/calibration/cam1.tif.addpar")
self.orig_cal = Calibration()
self.orig_cal.from_file("testing_fodder/calibration/cam1.tif.ori",
"testing_fodder/calibration/cam1.tif.addpar")
def test_external_calibration(self):
"""External calibration using clicked points."""
ref_pts = np.array([[-40., -25., 8.], [40., -15., 0.], [40., 15., 0.],
[40., 0., 8.]])
# Fake the image points by back-projection
targets = convert_arr_metric_to_pixel(
image_coordinates(ref_pts, self.cal,
self.control.get_multimedia_params()),
self.control)
# Jigg the fake detections to give raw_orient some challenge.
targets[:, 1] -= 0.1
self.assertTrue(
external_calibration(self.cal, ref_pts, targets, self.control))
np.testing.assert_array_almost_equal(self.cal.get_angles(),
self.orig_cal.get_angles(),
decimal=4)
np.testing.assert_array_almost_equal(self.cal.get_pos(),
self.orig_cal.get_pos(),
decimal=3)
def test_full_calibration(self):
ref_pts = np.array([
a.flatten() for a in np.meshgrid(np.r_[-60:-30:4j], np.r_[0:15:4j],
np.r_[0:15:4j])
]).T
# Fake the image points by back-projection
targets = convert_arr_metric_to_pixel(
image_coordinates(ref_pts, self.cal,
self.control.get_multimedia_params()),
self.control)
# Full calibration works with TargetArray objects, not NumPy.
target_array = TargetArray(len(targets))
for i in xrange(len(targets)):
target_array[i].set_pnr(i)
target_array[i].set_pos(targets[i])
# Perturb the calibration object, then compore result to original.
self.cal.set_pos(self.cal.get_pos() + np.r_[15., -15., 15.])
self.cal.set_angles(self.cal.get_angles() + np.r_[-.5, .5, -.5])
ret, used, err_est = full_calibration(self.cal, ref_pts, target_array,
self.control)
np.testing.assert_array_almost_equal(self.cal.get_angles(),
self.orig_cal.get_angles(),
decimal=4)
np.testing.assert_array_almost_equal(self.cal.get_pos(),
self.orig_cal.get_pos(),
decimal=3)
class Test_Calibration(unittest.TestCase):
def setUp(self):
self.input_ori_file_name = b"testing_fodder/calibration/cam1.tif.ori"
self.input_add_file_name = b"testing_fodder/calibration/cam2.tif.addpar"
self.output_directory = b"testing_fodder/calibration/testing_output/"
# create a temporary output directory (will be deleted by the end of test)
if not os.path.exists(self.output_directory):
os.makedirs(self.output_directory)
# create an instance of Calibration wrapper class
self.cal = Calibration()
def test_full_instantiate(self):
pos = numpy.r_[1., 3., 5.]
angs = numpy.r_[2., 4., 6.]
prim_point = pos * 3
rad_dist = pos * 4
decent = pos[:2] * 5
affine = decent * 1.5
glass = pos * 7
cal = Calibration(pos, angs, prim_point, rad_dist, decent, affine,
glass)
numpy.testing.assert_array_equal(pos, cal.get_pos())
numpy.testing.assert_array_equal(angs, cal.get_angles())
numpy.testing.assert_array_equal(prim_point, cal.get_primary_point())
numpy.testing.assert_array_equal(rad_dist, cal.get_radial_distortion())
numpy.testing.assert_array_equal(decent, cal.get_decentering())
numpy.testing.assert_array_equal(affine, cal.get_affine())
numpy.testing.assert_array_equal(glass, cal.get_glass_vec())
def test_Calibration_instantiation(self):
"""Filling a calibration object by reading ori files"""
self.output_ori_file_name = self.output_directory + b"output_ori"
self.output_add_file_name = self.output_directory + b"output_add"
# Using a round-trip test.
self.cal.from_file(self.input_ori_file_name, self.input_add_file_name)
self.cal.write(self.output_ori_file_name, self.output_add_file_name)
self.assertTrue(filecmp.cmp(self.input_ori_file_name, self.output_ori_file_name, 0))
self.assertTrue(filecmp.cmp(self.input_add_file_name, self.output_add_file_name, 0))
def test_set_pos(self):
"""Set exterior position, only for admissible values"""
# test set_pos() by passing a numpy array of 3 elements
new_np = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_pos(new_np)
# test getting position and assert that position is equal to set position
numpy.testing.assert_array_equal(new_np, self.cal.get_pos())
# assert set_pos() raises ValueError exception when given more or less than 3 elements
self.assertRaises(ValueError, self.cal.set_pos, numpy.array([1, 2, 3, 4]))
self.assertRaises(ValueError, self.cal.set_pos, numpy.array([1, 2]))
def test_set_angles(self):
"""set angles correctly"""
dmatrix_before = self.cal.get_rotation_matrix() # dmatrix before setting angles
angles_np = numpy.array([0.1111, 0.2222, 0.3333])
self.cal.set_angles(angles_np)
dmatrix_after = self.cal.get_rotation_matrix() # dmatrix after setting angles
numpy.testing.assert_array_equal(self.cal.get_angles(), angles_np)
# assert dmatrix was recalculated (before vs after)
self.assertFalse(numpy.array_equal(dmatrix_before, dmatrix_after))
self.assertRaises(ValueError, self.cal.set_angles, numpy.array([1, 2, 3, 4]))
self.assertRaises(ValueError, self.cal.set_angles, numpy.array([1, 2]))
def tearDown(self):
# remove the testing output directory and its files
shutil.rmtree(self.output_directory)
def test_set_primary(self):
"""Set primary point (interior) position, only for admissible values"""
new_pp = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_primary_point(new_pp)
numpy.testing.assert_array_equal(new_pp, self.cal.get_primary_point())
self.assertRaises(ValueError, self.cal.set_primary_point, numpy.ones(4))
self.assertRaises(ValueError, self.cal.set_primary_point, numpy.ones(2))
def test_set_radial(self):
"""Set radial distortion, only for admissible values"""
new_rd = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_radial_distortion(new_rd)
numpy.testing.assert_array_equal(new_rd,
self.cal.get_radial_distortion())
self.assertRaises(ValueError, self.cal.set_radial_distortion,
numpy.ones(4))
self.assertRaises(ValueError, self.cal.set_radial_distortion,
numpy.ones(2))
def test_set_decentering(self):
"""Set radial distortion, only for admissible values"""
new_de = numpy.array([111.1111, 222.2222])
self.cal.set_decentering(new_de)
numpy.testing.assert_array_equal(new_de, self.cal.get_decentering())
self.assertRaises(ValueError, self.cal.set_decentering, numpy.ones(3))
self.assertRaises(ValueError, self.cal.set_decentering, numpy.ones(1))
def test_set_glass(self):
"""Set glass vector, only for admissible values"""
new_gv = numpy.array([1., 2., 3.])
self.cal.set_glass_vec(new_gv)
numpy.testing.assert_array_equal(new_gv, self.cal.get_glass_vec())
self.assertRaises(ValueError, self.cal.set_glass_vec, numpy.ones(2))
self.assertRaises(ValueError, self.cal.set_glass_vec, numpy.ones(1))
class TestGradientDescent(unittest.TestCase):
# Based on the C tests in liboptv/tests/check_orientation.c
def setUp(self):
control_file_name = r'testing_fodder/corresp/control.par'
self.control = ControlParams(4)
self.control.read_control_par(control_file_name)
self.cal = Calibration()
self.cal.from_file(
"testing_fodder/calibration/cam1.tif.ori",
"testing_fodder/calibration/cam1.tif.addpar")
self.orig_cal = Calibration()
self.orig_cal.from_file(
"testing_fodder/calibration/cam1.tif.ori",
"testing_fodder/calibration/cam1.tif.addpar")
def test_external_calibration(self):
"""External calibration using clicked points."""
ref_pts = np.array([
[-40., -25., 8.],
[ 40., -15., 0.],
[ 40., 15., 0.],
[ 40., 0., 8.]])
# Fake the image points by back-projection
targets = convert_arr_metric_to_pixel(image_coordinates(
ref_pts, self.cal, self.control.get_multimedia_params()),
self.control)
# Jigg the fake detections to give raw_orient some challenge.
targets[:,1] -= 0.1
self.assertTrue(external_calibration(
self.cal, ref_pts, targets, self.control))
np.testing.assert_array_almost_equal(
self.cal.get_angles(), self.orig_cal.get_angles(),
decimal=4)
np.testing.assert_array_almost_equal(
self.cal.get_pos(), self.orig_cal.get_pos(),
decimal=3)
def test_full_calibration(self):
ref_pts = np.array([a.flatten() for a in np.meshgrid(
np.r_[-60:-30:4j], np.r_[0:15:4j], np.r_[0:15:4j])]).T
# Fake the image points by back-projection
targets = convert_arr_metric_to_pixel(image_coordinates(
ref_pts, self.cal, self.control.get_multimedia_params()),
self.control)
# Full calibration works with TargetArray objects, not NumPy.
target_array = TargetArray(len(targets))
for i in xrange(len(targets)):
target_array[i].set_pnr(i)
target_array[i].set_pos(targets[i])
# Perturb the calibration object, then compore result to original.
self.cal.set_pos(self.cal.get_pos() + np.r_[15., -15., 15.])
self.cal.set_angles(self.cal.get_angles() + np.r_[-.5, .5, -.5])
ret, used, err_est = full_calibration(
self.cal, ref_pts, target_array, self.control)
np.testing.assert_array_almost_equal(
self.cal.get_angles(), self.orig_cal.get_angles(),
decimal=4)
np.testing.assert_array_almost_equal(
self.cal.get_pos(), self.orig_cal.get_pos(),
decimal=3)
class Test_Calibration(unittest.TestCase):
def setUp(self):
self.input_ori_file_name = "testing_fodder/calibration/cam1.tif.ori"
self.input_add_file_name = "testing_fodder/calibration/cam2.tif.addpar"
self.output_directory = "testing_fodder/calibration/testing_output/"
# create a temporary output directory (will be deleted by the end of test)
if not os.path.exists(self.output_directory):
os.makedirs(self.output_directory)
# create an instance of Calibration wrapper class
self.cal = Calibration()
def test_Calibration_instantiation(self):
"""Filling a calibration object by reading ori files"""
self.output_ori_file_name = self.output_directory + "output_ori"
self.output_add_file_name = self.output_directory + "output_add"
# Using a round-trip test.
self.cal.from_file(self.input_ori_file_name, self.input_add_file_name)
self.cal.write(self.output_ori_file_name, self.output_add_file_name)
self.assertTrue(filecmp.cmp(self.input_ori_file_name, self.output_ori_file_name, 0))
self.assertTrue(filecmp.cmp(self.input_add_file_name, self.output_add_file_name, 0))
def test_set_pos(self):
"""Set exterior position, only for admissible values"""
# test set_pos() by passing a numpy array of 3 elements
new_np = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_pos(new_np)
# test getting position and assert that position is equal to set position
numpy.testing.assert_array_equal(new_np, self.cal.get_pos())
# assert set_pos() raises ValueError exception when given more or less than 3 elements
self.assertRaises(ValueError, self.cal.set_pos, numpy.array([1, 2, 3, 4]))
self.assertRaises(ValueError, self.cal.set_pos, numpy.array([1, 2]))
def test_set_angles(self):
"""set angles correctly"""
dmatrix_before = self.cal.get_rotation_matrix() # dmatrix before setting angles
angles_np = numpy.array([0.1111, 0.2222, 0.3333])
self.cal.set_angles(angles_np)
dmatrix_after = self.cal.get_rotation_matrix() # dmatrix after setting angles
numpy.testing.assert_array_equal(self.cal.get_angles(), angles_np)
# assert dmatrix was recalculated (before vs after)
self.assertFalse(numpy.array_equal(dmatrix_before, dmatrix_after))
self.assertRaises(ValueError, self.cal.set_angles, numpy.array([1, 2, 3, 4]))
self.assertRaises(ValueError, self.cal.set_angles, numpy.array([1, 2]))
def tearDown(self):
# remove the testing output directory and its files
shutil.rmtree(self.output_directory)
def test_set_primary(self):
"""Set primary point (interior) position, only for admissible values"""
new_pp = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_primary_point(new_pp)
numpy.testing.assert_array_equal(new_pp, self.cal.get_primary_point())
self.assertRaises(ValueError, self.cal.set_primary_point, numpy.ones(4))
self.assertRaises(ValueError, self.cal.set_primary_point, numpy.ones(2))
def test_set_radial(self):
"""Set radial distortion, only for admissible values"""
new_rd = numpy.array([111.1111, 222.2222, 333.3333])
self.cal.set_radial_distortion(new_rd)
numpy.testing.assert_array_equal(new_rd,
self.cal.get_radial_distortion())
self.assertRaises(ValueError, self.cal.set_radial_distortion,
numpy.ones(4))
self.assertRaises(ValueError, self.cal.set_radial_distortion,
numpy.ones(2))
def test_set_decentering(self):
"""Set radial distortion, only for admissible values"""
new_de = numpy.array([111.1111, 222.2222])
self.cal.set_decentering(new_de)
numpy.testing.assert_array_equal(new_de, self.cal.get_decentering())
self.assertRaises(ValueError, self.cal.set_decentering, numpy.ones(3))
self.assertRaises(ValueError, self.cal.set_decentering, numpy.ones(1))
def test_set_glass(self):
"""Set glass vector, only for admissible values"""
new_gv = numpy.array([1., 2., 3.])
self.cal.set_glass_vec(new_gv)
numpy.testing.assert_array_equal(new_gv, self.cal.get_glass_vec())
self.assertRaises(ValueError, self.cal.set_glass_vec, numpy.ones(2))
self.assertRaises(ValueError, self.cal.set_glass_vec, numpy.ones(1))
