def make_default_system():
'''helper function to generate an instance of MultiCameraSystem'''
lookat = np.array( (0.0, 0.0, 0.0))
center1 = np.array( (0.0, 0.0, 0.9) )
distortion1 = np.array( [0.2, 0.3, 0.1, 0.1, 0.1] )
cam1 = CameraModel.load_camera_simple(name='cam1',
fov_x_degrees=90,
eye=center1,
lookat=lookat,
distortion_coefficients=distortion1,
)
center2 = np.array( (0.5, -0.8, 0.0) )
cam2 = CameraModel.load_camera_simple(name='cam2',
fov_x_degrees=90,
eye=center2,
lookat=lookat,
)
center3 = np.array( (0.5, 0.5, 0.0) )
cam3 = CameraModel.load_camera_simple(name='cam3',
fov_x_degrees=90,
eye=center3,
lookat=lookat,
)
system = MultiCameraSystem([cam1,cam2,cam3])
return system
def make_default_system(with_separate_distorions=False):
"""helper function to generate an instance of MultiCameraSystem"""
if with_separate_distorions:
raise NotImplementedError
camxs = np.linspace(-2, 2, 3)
camzs = np.linspace(-2, 2, 3).tolist()
camzs.pop(1)
cameras = []
lookat = np.array((0.0, 0, 0))
up = np.array((0.0, 0, 1))
for enum, camx in enumerate(camxs):
center = np.array((camx, -5, 0))
name = "camx_%d" % (enum + 1,)
cam = CameraModel.load_camera_simple(name=name, fov_x_degrees=45, eye=center, lookat=lookat, up=up)
cameras.append(cam)
for enum, camz in enumerate(camzs):
center = np.array((0, -5, camz))
name = "camz_%d" % (enum + 1,)
cam = CameraModel.load_camera_simple(name=name, fov_x_degrees=45, eye=center, lookat=lookat, up=up)
cameras.append(cam)
system = MultiCameraSystem(cameras)
return system
def test_equals():
system = make_default_system()
assert system != 1234
system2 = MultiCameraSystem([CameraModel.load_camera_simple(name='cam%d'%i) for i in range(2)])
system3 = MultiCameraSystem([CameraModel.load_camera_simple(name='cam%d'%i) for i in range(3)])
assert system2 != system3
system4 = make_default_system()
d = system4.to_dict()
d['camera_system'][0]['width'] += 1
system5 = MultiCameraSystem.from_dict( d )
assert system4 != system5
def test_equals():
system = make_default_system()
assert system != 1234
system2 = MultiCameraSystem(
[CameraModel.load_camera_simple(name='cam%d' % i) for i in range(2)])
system3 = MultiCameraSystem(
[CameraModel.load_camera_simple(name='cam%d' % i) for i in range(3)])
assert system2 != system3
system4 = make_default_system()
d = system4.to_dict()
d['camera_system'][0]['width'] += 1
system5 = MultiCameraSystem.from_dict(d)
assert system4 != system5
def test_align():
system1 = make_default_system()
system2 = system1.get_aligned_copy( system1 ) # This should be a no-op.
assert system1==system2
system3 = MultiCameraSystem([CameraModel.load_camera_simple(name='cam%d'%i) for i in range(2)])
nose.tools.assert_raises(ValueError, system3.get_aligned_copy, system1)
def test_distortion():
base = CameraModel.load_camera_default()
lookat = np.array( (0.0, 0.0, 0.0) )
up = np.array( (0.0, 0.0, 1.0) )
cams = []
cams.append( base.get_view_camera(eye=np.array((1.0,0.0,1.0)),lookat=lookat,up=up) )
distortion1 = np.array( [0.2, 0.3, 0.1, 0.1, 0.1] )
cam_wide = CameraModel.load_camera_simple(name='cam_wide',
fov_x_degrees=90,
eye=np.array((-1.0,-1.0,0.7)),
lookat=lookat,
distortion_coefficients=distortion1,
)
cams.append(cam_wide)
cam_ids = []
for i in range(len(cams)):
cams[i].name = 'cam%02d'%i
cam_ids.append(cams[i].name)
cam_system = MultiCameraSystem(cams)
R = reconstruct.Reconstructor.from_pymvg(cam_system)
for cam_id in cam_ids:
nl_params = R.get_intrinsic_nonlinear(cam_id)
mvg_cam = cam_system.get_camera_dict()[cam_id]
assert np.allclose(mvg_cam.distortion, nl_params)
def test_align():
system1 = make_default_system()
system2 = system1.get_aligned_copy(system1) # This should be a no-op.
assert system1 == system2
system3 = MultiCameraSystem(
[CameraModel.load_camera_simple(name='cam%d' % i) for i in range(2)])
nose.tools.assert_raises(ValueError, system3.get_aligned_copy, system1)
def test_equality():
center = np.array( (0, 0.0, 5) )
lookat = center + np.array( (0,1,0))
cam_apple1 = CameraModel.load_camera_simple(fov_x_degrees=90,
eye=center,
lookat=lookat,
name='apple')
cam_apple2 = CameraModel.load_camera_simple(fov_x_degrees=90,
eye=center,
lookat=lookat,
name='apple')
cam_orange = CameraModel.load_camera_simple(fov_x_degrees=30,
eye=center,
lookat=lookat,
name='orange')
assert cam_apple1==cam_apple2
assert cam_apple1!=cam_orange
assert not cam_apple1==cam_orange
def make_default_system():
'''helper function to generate an instance of MultiCameraSystem'''
lookat = np.array((0.0, 0.0, 0.0))
center1 = np.array((0.0, 0.0, 5.0))
distortion1 = np.array([0.2, 0.3, 0.1, 0.1, 0.1])
cam1 = CameraModel.load_camera_simple(
name='cam1',
fov_x_degrees=90,
eye=center1,
lookat=lookat,
distortion_coefficients=distortion1,
)
center2 = np.array((0.5, 0.0, 0.0))
cam2 = CameraModel.load_camera_simple(
name='cam2',
fov_x_degrees=90,
eye=center2,
lookat=lookat,
)
center3 = np.array((0.5, 0.5, 0.0))
cam3 = CameraModel.load_camera_simple(
name='cam3',
fov_x_degrees=90,
eye=center3,
lookat=lookat,
)
center4 = np.array((0.5, 0.0, 0.5))
cam4 = CameraModel.load_camera_simple(
name='cam4',
fov_x_degrees=90,
eye=center4,
lookat=lookat,
)
cameras = [cam1, cam2, cam3, cam4]
system = MultiCameraSystem(cameras)
return system
def make_default_system(with_separate_distorions=False):
'''helper function to generate an instance of MultiCameraSystem'''
if with_separate_distorions:
raise NotImplementedError
camxs = np.linspace(-2, 2, 3)
camzs = np.linspace(-2, 2, 3).tolist()
camzs.pop(1)
cameras = []
lookat = np.array((0.0, 0, 0))
up = np.array((0.0, 0, 1))
for enum, camx in enumerate(camxs):
center = np.array((camx, -5, 0))
name = 'camx_%d' % (enum + 1, )
cam = CameraModel.load_camera_simple(
name=name,
fov_x_degrees=45,
eye=center,
lookat=lookat,
up=up,
)
cameras.append(cam)
for enum, camz in enumerate(camzs):
center = np.array((0, -5, camz))
name = 'camz_%d' % (enum + 1, )
cam = CameraModel.load_camera_simple(
name=name,
fov_x_degrees=45,
eye=center,
lookat=lookat,
up=up,
)
cameras.append(cam)
system = MultiCameraSystem(cameras)
return system
def _get_cams(with_distortion):
base = CameraModel.load_camera_default()
lookat = np.array((0.0, 0.0, 0.0))
up = np.array((0.0, 0.0, 1.0))
cams = []
cams.append(
base.get_view_camera(eye=np.array((1.0, 0.0, 1.0)),
lookat=lookat,
up=up))
cams.append(
base.get_view_camera(eye=np.array((1.2, 3.4, 5.6)),
lookat=lookat,
up=up))
cams.append(
base.get_view_camera(eye=np.array((0, 0.3, 1.0)), lookat=lookat,
up=up))
if with_distortion:
distortion1 = np.array([0.2, 0.3, 0.1, 0.1, 0.1])
else:
distortion1 = np.zeros((5, ))
cam_wide = CameraModel.load_camera_simple(
name='cam_wide',
fov_x_degrees=90,
eye=np.array((-1.0, -1.0, 0.7)),
lookat=lookat,
distortion_coefficients=distortion1,
)
cams.append(cam_wide)
for i in range(len(cams)):
cams[i].name = 'cam%02d' % i
cam_system = MultiCameraSystem(cams)
reconstructor = Reconstructor.from_pymvg(cam_system)
result = dict(
cams=cams,
cam_system=cam_system,
reconstructor=reconstructor,
)
return result
def test_no_duplicate_names():
cam1a = CameraModel.load_camera_simple(name='cam1')
cam1b = CameraModel.load_camera_simple(name='cam1')
cams = [cam1a,cam1b]
nose.tools.assert_raises(ValueError, MultiCameraSystem, cams)
def test_no_duplicate_names():
cam1a = CameraModel.load_camera_simple(name='cam1')
cam1b = CameraModel.load_camera_simple(name='cam1')
cams = [cam1a, cam1b]
nose.tools.assert_raises(ValueError, MultiCameraSystem, cams)
def test_simple_camera():
center = np.array( (0, 0.0, 5) )
lookat = center + np.array( (0,1,0))
cam = CameraModel.load_camera_simple(fov_x_degrees=90,
eye=center,
lookat=lookat)
def test_pymvg_roundtrip():
from pymvg.camera_model import CameraModel
from pymvg.multi_camera_system import MultiCameraSystem
from flydra_core.reconstruct import Reconstructor
# ----------- with no distortion ------------------------
center1 = np.array( (0, 0.0, 5) )
center2 = np.array( (1, 0.0, 5) )
lookat = np.array( (0,1,0))
cam1 = CameraModel.load_camera_simple(fov_x_degrees=90,
name='cam1',
eye=center1,
lookat=lookat)
cam2 = CameraModel.load_camera_simple(fov_x_degrees=90,
name='cam2',
eye=center2,
lookat=lookat)
mvg = MultiCameraSystem( cameras=[cam1, cam2] )
R = Reconstructor.from_pymvg(mvg)
mvg2 = R.convert_to_pymvg()
cam_ids = ['cam1','cam2']
for distorted in [True,False]:
for cam_id in cam_ids:
v1 = mvg.find2d( cam_id, lookat, distorted=distorted )
v2 = R.find2d( cam_id, lookat, distorted=distorted )
v3 = mvg2.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
assert np.allclose(v1,v3)
# ----------- with distortion ------------------------
cam1dd = cam1.to_dict()
cam1dd['D'] = (0.1, 0.2, 0.3, 0.4, 0.0)
cam1d = CameraModel.from_dict(cam1dd)
cam2dd = cam2.to_dict()
cam2dd['D'] = (0.11, 0.21, 0.31, 0.41, 0.0)
cam2d = CameraModel.from_dict(cam2dd)
mvgd = MultiCameraSystem( cameras=[cam1d, cam2d] )
Rd = Reconstructor.from_pymvg(mvgd)
mvg2d = Rd.convert_to_pymvg()
cam_ids = ['cam1','cam2']
for distorted in [True,False]:
for cam_id in cam_ids:
v1 = mvgd.find2d( cam_id, lookat, distorted=distorted )
v2 = Rd.find2d( cam_id, lookat, distorted=distorted )
v3 = mvg2d.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
assert np.allclose(v1,v3)
# ------------ with distortion at different focal length ------
mydir = os.path.dirname(__file__)
caldir = os.path.join(mydir,'sample_calibration')
print mydir
print caldir
R3 = Reconstructor(caldir)
mvg3 = R3.convert_to_pymvg()
#R4 = Reconstructor.from_pymvg(mvg3)
mvg3b = MultiCameraSystem.from_mcsc( caldir )
for distorted in [True,False]:
for cam_id in R3.cam_ids:
v1 = R3.find2d( cam_id, lookat, distorted=distorted )
v2 = mvg3.find2d( cam_id, lookat, distorted=distorted )
#v3 = R4.find2d( cam_id, lookat, distorted=distorted )
v4 = mvg3b.find2d( cam_id, lookat, distorted=distorted )
assert np.allclose(v1,v2)
#assert np.allclose(v1,v3)
assert np.allclose(v1,v4)
