def test_single_intersection(self):
q = [0,0,0]
v = [1,0,0]
w = [1,0,0,2]
p = [2,0,0]
assert_allclose(normalize(line_plane_intersection(q, v, w)), normalize(p))
def test_pixel_generation(self):
unnormalized_pixel_rays = np.transpose(
[[[0, 0, 1], [1, 0, 1], [2, 0, 1], [3, 0, 1]],
[[0, 1, 1], [1, 1, 1], [2, 1, 1], [3, 1, 1]],
[[0, 2, 1], [1, 2, 1], [2, 2, 1], [3, 2, 1]]],
(1, 0, 2))
assert_allclose(pixel_rays(self.oe), normalize(unnormalized_pixel_rays), rtol=self.rtol)
def pixel_rays(optical_equipment):
"""
Function: pixel_rays
Creates an array of the rays for a piece of optical equipment with a
given resolution
Parameters:
equipment - *<OpticalEquipment>* The piece of optical equipment to calculate
the pixel rays for
Returns:
*ndarray* of the pixel rays for the piece of optical equipment. Will
have shape (height, width, 3), where height is the resolution height
and width is the resolution width. The last dimension holds the ray. Rays
are in the optical equipment frame
"""
res = optical_equipment.resolution
# get grid of the locations of the pixels
distorted_points = np.transpose(np.mgrid[0:res[0], 0:res[1]], (1, 2, 0))
grid_shape = distorted_points.shape
# convert to a list of points to pass to undistortPoints
distorted_points_list = distorted_points.reshape(-1, 1, 2)
# undistort the pixel locations
points_list = cv2.undistortPoints(distorted_points_list.astype(np.float32),
optical_equipment.intrinsic_matrix,
optical_equipment.distortion)
# turn it back into a grid
points = points_list.reshape(grid_shape)
# convert to rays by appending 1 as z axis
rays = np.concatenate((points, np.ones(res + (1,))), axis=2)
# normalize
return normalize(rays, axis=2)
def test_horz_planes(self):
assert_allclose(normalize(np.around(self.horz_planes, decimals=10)),
normalize(np.around(self.exp_horz_planes, decimals=10)),
rtol=self.rtol, atol=self.atol)
