def test_points_model_4_points():
points = np.zeros((4, 3), dtype=np.float)
points[1][0] = 1
points[2][1] = 1
points[3][2] = 1
colours = np.zeros((4, 3), dtype=np.byte)
colours[1][0] = 255
colours[2][1] = 255
colours[3][2] = 255
vtk_model = pm.VTKPointModel(points, colours)
assert vtk_model.get_point_size() == 5
assert vtk_model.get_number_of_points() == 4
def test_point_set_overlay(vtk_overlay_with_gradient_image):
image, widget, _, app = vtk_overlay_with_gradient_image
points = np.zeros((4, 3), dtype=np.float)
points[1][0] = 1
points[2][1] = 1
points[3][2] = 1
colours = np.zeros((4, 3), dtype=np.byte)
colours[0][0] = 255
colours[0][1] = 255
colours[0][2] = 255
colours[1][0] = 255
colours[2][1] = 255
colours[3][2] = 255
vtk_models = [pm.VTKPointModel(points, colours)]
widget.add_vtk_models(vtk_models)
def test_stereo_overlay_window(vtk_interlaced_stereo_window):
widget, _, app = vtk_interlaced_stereo_window
model_points_file = 'tests/data/calibration/chessboard_14_10_3_no_ID.txt'
model_points = np.loadtxt(model_points_file)
number_model_points = model_points.shape[0]
assert number_model_points == 140
# Load images
left_image = cv2.imread('tests/data/calibration/left-1095-undistorted.png')
right_image = cv2.imread('tests/data/calibration/right-1095-undistorted.png')
# Load left intrinsics for projection matrix.
left_intrinsics_file = 'tests/data/calibration/calib.left.intrinsic.txt'
left_intrinsics = np.loadtxt(left_intrinsics_file)
# Load right intrinsics for projection matrix.
right_intrinsics_file = 'tests/data/calibration/calib.right.intrinsic.txt'
right_intrinsics = np.loadtxt(right_intrinsics_file)
# Load 2D points
image_points_file ='tests/data/calibration/right-1095-undistorted.png.points.txt'
image_points = np.loadtxt(image_points_file)
number_image_points = image_points.shape[0]
assert number_model_points == number_image_points
# Load extrinsics for camera pose (position, orientation).
extrinsics_file = 'tests/data/calibration/left-1095.extrinsic.txt'
extrinsics = np.loadtxt(extrinsics_file)
left_camera_to_world = np.linalg.inv(extrinsics)
# Load extrinsics for stereo.
stereo_extrinsics_file = 'tests/data/calibration/calib.l2r.4x4'
stereo_extrinsics = np.loadtxt(stereo_extrinsics_file)
screen = app.primaryScreen()
width = left_image.shape[1]
height = left_image.shape[0]
while width >= screen.geometry().width() or height >= screen.geometry().height():
width /= 2
height /= 2
# Create a vtk point model.
vtk_points = vtk_point_model.VTKPointModel(model_points.astype(np.float),
model_points.astype(np.byte))
widget.add_vtk_actor(vtk_points.actor)
widget.set_video_images(left_image, right_image)
widget.set_camera_matrices(left_intrinsics, right_intrinsics)
widget.set_left_to_right(stereo_extrinsics)
widget.set_camera_poses(left_camera_to_world)
widget.resize(width, height)
widget.show()
widget.set_current_viewer_index(0)
widget.set_current_viewer_index(1)
widget.set_current_viewer_index(2)
widget.render()
six.print_('Chosen size = (' + str(width) + 'x' + str(height) + ')')
six.print_('Left image = :' + str(left_image.shape))
six.print_('Right image = :' + str(right_image.shape))
six.print_('Widget = (' + str(widget.width()) + ', ' + str(widget.height()) + ')')
# Project points using OpenCV.
right_camera_to_world = cam.compute_right_camera_pose(left_camera_to_world, stereo_extrinsics)
right_points = pu.project_points(model_points,
right_camera_to_world,
right_intrinsics
)
rms_opencv = 0
for counter in range(0, number_model_points):
i_c = image_points[counter]
dx = right_points[counter][0][0] - i_c[0]
dy = right_points[counter][0][1] - i_c[1]
rms_opencv += (dx * dx + dy * dy)
rms_opencv /= number_model_points
rms_opencv = np.sqrt(rms_opencv)
assert rms_opencv < 1
widget.save_scene_to_file('tests/output/test_interlaced_stereo_window.png')
#app.exec_()
def test_point_model_invalid_because_opacity_too_high():
with pytest.raises(TypeError):
pm.VTKPointModel(np.ones((1, 6)), -1.1)
def test_point_model_invalid_because_colours_not_uchar():
with pytest.raises(TypeError):
pm.VTKPointModel(np.ones((1, 3), dtype=np.float),
np.ones((1, 3), dtype=np.int))
def test_point_model_invalid_because_opacity_not_float():
with pytest.raises(TypeError):
pm.VTKPointModel(np.ones((1, 6)), 1)
def test_point_model_invalid_because_different_shape():
with pytest.raises(ValueError):
pm.VTKPointModel(np.ones((1, 3)), np.ones((2, 3)))
def test_point_model_invalid_because_no_colours():
with pytest.raises(ValueError):
pm.VTKPointModel(np.ones((1, 3)), np.ones((0, 3)))
def test_point_model_invalid_because_colours_not_got_3_columns():
with pytest.raises(ValueError):
pm.VTKPointModel(np.ones((1, 3)), np.ones((1, 2)))
def test_point_model_invalid_because_colours_not_numpy_array():
with pytest.raises(TypeError):
pm.VTKPointModel(np.ones((1, 3)), 1)
def test_point_model_invalid_because_null_points():
with pytest.raises(ValueError):
pm.VTKPointModel(None, None)
