def test_reconstruct3D(self):
ImgPtsA = self.TypeFunc([[320], [240]])
ImgPtsB = self.TypeFunc([[320], [240]])
CameraMatrixA = self.TypeFunc([[100, 0, 320], [0, 100, 240], [0, 0,
1]])
CameraMatrixB = self.TypeFunc([[100, 0, 320], [0, 100, 240], [0, 0,
1]])
Tx2CamA = self.TypeFunc([[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0],
[0, 0, 0, 1]])
Deg45 = np.sqrt(2) / 2
Tx2CamB = self.TypeFunc([[1, 0, 0, 0], [0, Deg45, -Deg45, 10],
[0, Deg45, Deg45, 0], [0, 0, 0, 1]])
DistA = self.TypeFunc([])
DistB = self.TypeFunc([])
GTPInX = np.array([0, 0, np.sqrt(2) * 10]).reshape(3, 1)
GTPInB = np.array([0, 0, 10]).reshape(3, 1)
PtsInX_3xn, ErrA, ErrB = \
VGL.reconstruct3DPts(imgPtsA_2xn=ImgPtsA, imgPtsB_2xn=ImgPtsB, cameraMatrixA=CameraMatrixA,
cameraMatrixB=CameraMatrixB, distCoeffsA=DistA, distCoeffsB=DistB,
Tx2CamA=Tx2CamA, Tx2CamB=Tx2CamB, calcReprojErr=True)
PtsInB_3xn = VGL.projectPts(PtsInX_3xn, Tx2CamB)
testNumpy.assert_allclose(PtsInX_3xn, GTPInX, atol=1e-7)
testNumpy.assert_allclose(PtsInB_3xn, GTPInB, atol=1e-7)
testNumpy.assert_allclose(ErrA, 0, atol=1e-7)
testNumpy.assert_allclose(ErrB, 0, atol=1e-7)
def testTransform_NotAlign(self):
Line0 = self.TypeFunc([[3, 6], [3, 6], [3, 6]])
Line1 = self.TypeFunc([[3, 5], [3, 5], [-3, -5]])
GTTransLine = np.array([[3, 6], [3, 6], [-3, -6]])
T = VGL.getTransformWith2LineSegment(Line0, Line1)
TransLine0 = VGL.projectPts(Line0, T)
testNumpy.assert_allclose(TransLine0, GTTransLine)
def test_computeRotateVec_180RotateAxisValid(self):
Vec0 = self.TypeFunc([[1], [0], [0]])
Vec1 = self.TypeFunc([[-1], [0], [0]])
AxisAngle = VGL.computeRotateVec(Vec0, Vec1, rotateAxis=[0, 0, 1])
R = cv2.Rodrigues(AxisAngle)[0]
NewVec = VGL.projectPts(pts_dxn=Vec0, projectMatrix=R)
testNumpy.assert_allclose(Vec1, NewVec, atol=1e-7)
def test_projectPts_NotMatch(self):
Pts = self.TypeFunc([[0, 2], [1, 3]])
ProjectMatrix = self.TypeFunc([[0, -1, 0, 11], [1, 0, 0, 22],
[0, 0, 1, 33], [0, 0, 0, 1]])
with testNumpy.assert_raises(VGL.VGLError):
VGL.projectPts(pts_dxn=Pts, projectMatrix=ProjectMatrix)
def test_projectPts_MatrixErr(self):
Pts = self.TypeFunc([[0, 2], [1, 3]])
ProjectMatrix = self.TypeFunc([[0, -1, 10], [1, 0, 20]])
with testNumpy.assert_raises(VGL.VGLError):
VGL.projectPts(pts_dxn=Pts, projectMatrix=ProjectMatrix)
def test_projectPts_D1(self):
Pts = self.TypeFunc([[0, 2], [1, 3]])
ProjectMatrix = self.TypeFunc([[0, -1, 10], [1, 0, 20], [0, 0, 1]])
GT = np.array([[9, 7], [20, 22]])
ProjectedPts = VGL.projectPts(pts_dxn=Pts, projectMatrix=ProjectMatrix)
testNumpy.assert_allclose(GT, ProjectedPts)
def test_projectPts_SameD(self):
Pts = self.TypeFunc([[0, 2], [1, 3]])
ProjectMatrix = self.TypeFunc([[0, -1], [1, 0]])
GT = np.array([[-1, -3], [0, 2]])
ProjectedPts = VGL.projectPts(pts_dxn=Pts, projectMatrix=ProjectMatrix)
testNumpy.assert_allclose(GT, ProjectedPts)
def testTransform(self):
Line0 = self.TypeFunc([[3, 5], [3, 5], [3, 5]])
Line1 = self.TypeFunc([[3, 5], [3, 5], [-3, -5]])
T = VGL.getTransformWith2LineSegment(Line0, Line1)
TransLine0 = VGL.projectPts(Line0, T)
testNumpy.assert_allclose(TransLine0, Line1)