def test_brown_affine(self): """Distortion and correction of pixel coordinates.""" # This is all based on values from liboptv/tests/check_imgcoord.c cal = Calibration() cal.set_pos(np.r_[0., 0., 40.]) cal.set_angles(np.r_[0., 0., 0.]) cal.set_primary_point(np.r_[0., 0., 10.]) cal.set_glass_vec(np.r_[0., 0., 20.]) cal.set_radial_distortion(np.zeros(3)) cal.set_decentering(np.zeros(2)) cal.set_affine_trans(np.r_[1, 0]) # reference metric positions: ref_pos = np.array([ [0.1, 0.1], [1., -1.], [-10., 10.] ]) # Perfect camera: distortion = identity. distorted = distort_arr_brown_affine(ref_pos, cal) np.testing.assert_array_almost_equal(distorted, ref_pos) # Some small radial distortion: cal.set_radial_distortion(np.r_[0.001, 0., 0.]) distorted = distort_arr_brown_affine(ref_pos, cal) self.failUnless(np.all(abs(distorted) > abs(ref_pos)))
def test_full_correction(self): """Round trip distortion/correction.""" # This is all based on values from liboptv/tests/check_imgcoord.c cal = Calibration() cal.set_pos(np.r_[0., 0., 40.]) cal.set_angles(np.r_[0., 0., 0.]) cal.set_primary_point(np.r_[0., 0., 10.]) cal.set_glass_vec(np.r_[0., 0., 20.]) cal.set_radial_distortion(np.zeros(3)) cal.set_decentering(np.zeros(2)) cal.set_affine_trans(np.r_[1, 0]) # reference metric positions: # Note the last value is different than in test_brown_affine() because # the iteration does not converge for a point too far out. ref_pos = np.array([ [0.1, 0.1], [1., -1.], [-5., 5.] ]) cal.set_radial_distortion(np.r_[0.001, 0., 0.]) distorted = distort_arr_brown_affine(ref_pos, cal) corrected = distorted_to_flat(distorted, cal) # default tight tolerance np.testing.assert_array_almost_equal(ref_pos, corrected, decimal=6)
class Test_image_coordinates(unittest.TestCase): def setUp(self): self.control = ControlParams(4) self.calibration = Calibration() def test_img_coord_typecheck(self): with self.assertRaises(TypeError): list = [[0 for x in range(3)] for x in range(10)] # initialize a 10x3 list (but not numpy matrix) flat_image_coordinates(list, self.control, out=None) with self.assertRaises(TypeError): flat_image_coordinates(np.empty((10, 2)), self.calibration, self.control.get_multimedia_params(), output=None) with self.assertRaises(TypeError): image_coordinates(np.empty((10, 3)), self.calibration, self.control.get_multimedia_params(), output=np.zeros((10, 3))) with self.assertRaises(TypeError): image_coordinates(np.zeros((10, 2)), self.calibration, self.control.get_multimedia_params(), output=np.zeros((10, 2))) def test_image_coord_regress(self): self.calibration.set_pos(np.array([0, 0, 40])) self.calibration.set_angles(np.array([0, 0, 0])) self.calibration.set_primary_point(np.array([0, 0, 10])) self.calibration.set_glass_vec(np.array([0, 0, 20])) self.calibration.set_radial_distortion(np.array([0, 0, 0])) self.calibration.set_decentering(np.array([0, 0])) self.calibration.set_affine_trans(np.array([1, 0])) self.mult = MultimediaParams(n1=1, n2=np.array([1]), n3=1, d=np.array([1])) input = np.array([[10., 5., -20.], [10., 5., -20.]]) # vec3d output = np.zeros((2, 2)) x = 10. / 6. y = x / 2. correct_output = np.array([[x, y], [x, y]]) flat_image_coordinates(input=input, cal=self.calibration, mult_params=self.mult, output=output) np.testing.assert_array_equal(output, correct_output) output=np.full((2,2), 999.) image_coordinates(input=input, cal=self.calibration, mult_params=self.mult, output=output) np.testing.assert_array_equal(output, correct_output)
class Test_image_coordinates(unittest.TestCase): def setUp(self): self.control = ControlParams(4) self.calibration = Calibration() def test_img_coord_typecheck(self): with self.assertRaises(TypeError): list = [[0 for x in range(3)] for x in range(10) ] # initialize a 10x3 list (but not numpy matrix) flat_image_coordinates(list, self.control, out=None) with self.assertRaises(TypeError): flat_image_coordinates(np.empty((10, 2)), self.calibration, self.control.get_multimedia_params(), output=None) with self.assertRaises(TypeError): image_coordinates(np.empty((10, 3)), self.calibration, self.control.get_multimedia_params(), output=np.zeros((10, 3))) with self.assertRaises(TypeError): image_coordinates(np.zeros((10, 2)), self.calibration, self.control.get_multimedia_params(), output=np.zeros((10, 2))) def test_image_coord_regress(self): self.calibration.set_pos(np.array([0, 0, 40])) self.calibration.set_angles(np.array([0, 0, 0])) self.calibration.set_primary_point(np.array([0, 0, 10])) self.calibration.set_glass_vec(np.array([0, 0, 20])) self.calibration.set_radial_distortion(np.array([0, 0, 0])) self.calibration.set_decentering(np.array([0, 0])) self.calibration.set_affine_trans(np.array([1, 0])) self.mult = MultimediaParams(n1=1, n2=np.array([1]), n3=1, d=np.array([1])) input = np.array([[10., 5., -20.], [10., 5., -20.]]) # vec3d output = np.zeros((2, 2)) x = 10. / 6. y = x / 2. correct_output = np.array([[x, y], [x, y]]) flat_image_coordinates(input=input, cal=self.calibration, mult_params=self.mult, output=output) np.testing.assert_array_equal(output, correct_output) output = np.full((2, 2), 999.) image_coordinates(input=input, cal=self.calibration, mult_params=self.mult, output=output) np.testing.assert_array_equal(output, correct_output)