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)
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)))
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)
def test_two_cameras(self):
ori_tmpl = "testing_fodder/calibration/sym_cam{cam_num}.tif.ori"
add_file = "testing_fodder/calibration/cam1.tif.addpar"
orig_cal = Calibration()
orig_cal.from_file(
ori_tmpl.format(cam_num=1).encode(), add_file.encode())
proj_cal = Calibration()
proj_cal.from_file(
ori_tmpl.format(cam_num=3).encode(), add_file.encode())
# reorient cams:
orig_cal.set_angles(np.r_[0., -np.pi / 4., 0.])
proj_cal.set_angles(np.r_[0., 3 * np.pi / 4., 0.])
cpar = ControlParams(4)
cpar.read_control_par(b"testing_fodder/corresp/control.par")
sens_size = cpar.get_image_size()
vpar = VolumeParams()
vpar.read_volume_par(b"testing_fodder/corresp/criteria.par")
vpar.set_Zmin_lay([-10, -10])
vpar.set_Zmax_lay([10, 10])
mult_params = cpar.get_multimedia_params()
mult_params.set_n1(1.)
mult_params.set_layers(np.array([1.]), np.array([1.]))
mult_params.set_n3(1.)
# Central point translates to central point because cameras point
# directly at each other.
mid = np.r_[sens_size] / 2.
line = epipolar_curve(mid, orig_cal, proj_cal, 5, cpar, vpar)
self.failUnless(np.all(abs(line - mid) < 1e-6))
# An equatorial point draws a latitude.
line = epipolar_curve(mid - np.r_[100., 0.], orig_cal, proj_cal, 5,
cpar, vpar)
np.testing.assert_array_equal(np.argsort(line[:, 0]),
np.arange(5)[::-1])
self.failUnless(np.all(abs(line[:, 1] - mid[1]) < 1e-6))
def test_two_cameras(self):
ori_tmpl = "testing_fodder/calibration/sym_cam{cam_num}.tif.ori"
add_file = "testing_fodder/calibration/cam1.tif.addpar"
orig_cal = Calibration()
orig_cal.from_file(ori_tmpl.format(cam_num=1).encode(), add_file.encode())
proj_cal = Calibration()
proj_cal.from_file(ori_tmpl.format(cam_num=3).encode(), add_file.encode())
# reorient cams:
orig_cal.set_angles(np.r_[0., -np.pi/4., 0.])
proj_cal.set_angles(np.r_[0., 3*np.pi/4., 0.])
cpar = ControlParams(4)
cpar.read_control_par(b"testing_fodder/corresp/control.par")
sens_size = cpar.get_image_size()
vpar = VolumeParams()
vpar.read_volume_par(b"testing_fodder/corresp/criteria.par")
vpar.set_Zmin_lay([-10, -10])
vpar.set_Zmax_lay([10, 10])
mult_params = cpar.get_multimedia_params()
mult_params.set_n1(1.)
mult_params.set_layers(np.array([1.]), np.array([1.]))
mult_params.set_n3(1.)
# Central point translates to central point because cameras point
# directly at each other.
mid = np.r_[sens_size]/2.
line = epipolar_curve(mid, orig_cal, proj_cal, 5, cpar, vpar)
self.failUnless(np.all(abs(line - mid) < 1e-6))
# An equatorial point draws a latitude.
line = epipolar_curve(
mid - np.r_[100., 0.], orig_cal, proj_cal, 5, cpar, vpar)
np.testing.assert_array_equal(np.argsort(line[:,0]), np.arange(5)[::-1])
self.failUnless(np.all(abs(line[:,1] - mid[1]) < 1e-6))
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_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_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))