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)