def test_register_transform_coalesce_with_nothing(self):
uut = InteractiveSquare()
matrix = np.array([[1, 0.25], [0.5, 1]])
with self.assertRaises(ValueError):
uut.register_transform(matrix, coalescer=np.dot)
def test_get_transform_matrix_one_order_only_matrix(self):
uut = InteractiveSquare()
expected = np.array([[1, 0.25], [0.5, 1]])
uut.register_transform(expected)
actual = uut._get_transform_matrix()
self.assertEqual(expected.tolist(), actual.tolist())
def test_register_transform(self):
uut = InteractiveSquare()
matrix = np.array([[1, 0.25], [0.5, 1]])
uut.register_transform(matrix)
expected = {0: [matrix, {}, None]}
actual = uut._matrices
self.assertEqual(expected, actual)
def test_register_transform_with_coalescer(self):
uut = InteractiveSquare()
matrix_1 = np.array([[1, 0.25], [0.5, 1]])
matrix_2 = np.array([[1, 0], [0, 1]])
uut.register_transform(matrix_1)
uut.register_transform(matrix_2)
expected = {0: [matrix_1, {}, None], 1: [matrix_2, {}, np.dot]}
actual = uut._matrices
self.assertEqual(expected, actual)
def experiment():
# TODO: When is M^-1 =/= M^T?
# TODO: Calculate distance from the camera at every pixel, and tint pixel to be lighter the farther it is from the camera.
viewport_ratio = 4 # 3/4 rows for viewport, 1/4 rows for sliders
num_sliders = 6
figure: pyplot.Figure = pyplot.figure()
grid: pyplot.GridSpec = gridspec.GridSpec(viewport_ratio, 1, figure=figure)
axes: pyplot.Axes = pyplot.subplot(grid[:viewport_ratio - 1, :])
sliders = gridspec.GridSpecFromSubplotSpec(num_sliders,
2,
grid[-1, :],
wspace=0.4)
# Configure style
axes.axis("equal")
axes.grid(alpha=0.15, linestyle="--")
axes.margins(2, 2)
axes.xaxis.set_major_locator(ticker.MultipleLocator(0.5))
axes.yaxis.set_major_locator(ticker.MultipleLocator(0.5))
axes.xaxis.set_minor_locator(ticker.AutoMinorLocator(4))
axes.yaxis.set_minor_locator(ticker.AutoMinorLocator(4))
# Set up gray (baseline) patch
origin = (0, 0)
InteractiveSquare(axes, origin, style=style.gray)
# Set up green (interactive) patch
K = np.array(
[ # Intrinsic parameter matrix
[1, 0, 0, 0], # [αₓ γ μ₀ 0]
[0, 1, 0, 0], # [0 αᵧ ν₀ 0]
[0, 0, 1, 0] # [0 0 1 0]
],
dtype=float)
Rx = np.identity(3, dtype=float) # Extrinsic parameter matrix
Ry = np.identity(3, dtype=float) # [R,3x3 T,3x1]
Rz = np.identity(3, dtype=float) # [0,1x3 1]
T = np.array([[0, 0, 0]], dtype=float)
B = np.array([[0, 0, 0, 1]], dtype=float)
green = InteractiveSquare(axes, (0, 0),
1, (0, 1),
style=style.green,
convert_2d=utility.from_homogenous,
label_vertices=True)
green.register_transform(K, label="K")
# Rx, Ry, Rz, T, B must be resolved before K can dot it.
RT = Sequence()
RT.register_node(MutableMatrix("Rz", Rz), None)
RT.register_node(MutableMatrix("Ry", Ry), np.dot)
RT.register_node(MutableMatrix("Rx", Rx), np.dot)
RT.register_node(MutableMatrix("T", T), lambda a, b: np.concatenate(
(a, b.T), axis=1))
RT.register_node(MutableMatrix("B", B), lambda a, b: np.concatenate(
(a, b), axis=0))
green.register_transform(RT)
# TODO: Do not register sliders to x, y, z angles. Register them to yaw (α), pitch (β), and roll (γ).
# Would need to register matrices/sliders with functions to calculate world rotations so that
# yaw, pitch, roll are valid--need to convert from intrinsic to extrinsic angles.
# Yaw (α)
slider_1 = widgets.Slider(pyplot.subplot(sliders[0, 0]), "Rotate: α", 0,
360, 0, **style.darkgreen)
green.register_slider((1, 0), (0, 0), slider_1,
lambda v: math.cos(math.radians(v)))
green.register_slider((1, 0), (0, 1), slider_1, lambda v:
(-1 * math.sin(math.radians(v))))
green.register_slider((1, 0), (1, 0), slider_1,
lambda v: math.sin(math.radians(v)))
green.register_slider((1, 0), (1, 1), slider_1,
lambda v: math.cos(math.radians(v)))
# Pitch (β)
slider_2 = widgets.Slider(pyplot.subplot(sliders[1, 0]), "Rotate: β", 0,
360, 0, **style.darkgreen)
green.register_slider((1, 1), (0, 0), slider_2,
lambda v: math.cos(math.radians(v)))
green.register_slider((1, 1), (0, 2), slider_2,
lambda v: math.sin(math.radians(v)))
green.register_slider((1, 1), (2, 0), slider_2, lambda v:
(-1 * math.sin(math.radians(v))))
green.register_slider((1, 1), (2, 2), slider_2,
lambda v: math.cos(math.radians(v)))
# Roll (γ)
slider_3 = widgets.Slider(pyplot.subplot(sliders[2, 0]), "Rotate: γ", 0,
360, 0, **style.darkgreen)
green.register_slider((1, 2), (1, 1), slider_3,
lambda v: math.cos(math.radians(v)))
green.register_slider((1, 2), (1, 2), slider_3, lambda v:
(-1 * math.sin(math.radians(v))))
green.register_slider((1, 2), (2, 1), slider_3,
lambda v: math.sin(math.radians(v)))
green.register_slider((1, 2), (2, 2), slider_3,
lambda v: math.cos(math.radians(v)))
# Focal length
slider_4 = widgets.Slider(pyplot.subplot(sliders[3, 0]), "Focal:", 0, 2, 0,
**style.darkgreen)
green.register_slider(0, (1, 0), slider_4)
green.register_slider(0, (0, 1), slider_4)
# Princible point x component
slider_5 = widgets.Slider(pyplot.subplot(sliders[4, 0]), "PPx:", -5, 5, 0,
**style.darkgreen)
green.register_slider(0, (0, 2), slider_5)
# Principle point y component
slider_6 = widgets.Slider(pyplot.subplot(sliders[5, 0]), "PPy:", -5, 5, 0,
**style.darkgreen)
green.register_slider(0, (1, 2), slider_6)
# World origin x component
slider_7 = widgets.Slider(pyplot.subplot(sliders[0, 1]), "Tx", -5, 5, 0,
**style.darkgreen)
green.register_slider((1, 3), (0, 0), slider_7)
# World origin y component
slider_8 = widgets.Slider(pyplot.subplot(sliders[1, 1]), "Ty", -5, 5, 0,
**style.darkgreen)
green.register_slider((1, 3), (0, 1), slider_8)
# World origin z component
slider_9 = widgets.Slider(pyplot.subplot(sliders[2, 1]), "Tz", -5, 5, 1,
**style.darkgreen)
green.register_slider((1, 3), (0, 2), slider_9)
logging.info(green.get_label())
axes.relim()
axes.autoscale_view()
pyplot.tight_layout()
pyplot.show()