def check_undistortion(cam_opts):
cam = _build_test_camera(**cam_opts)
step = 5
border = 65
distorteds = []
for row in range(border, cam.height - border, step):
for col in range(border, cam.width - border, step):
distorted = [col, row]
distorteds.append(distorted)
npdistorted = np.array(distorteds, dtype=np.float)
src = numpy2opencv_pointmat(npdistorted)
dst = cv.CloneMat(src)
cv.UndistortPoints(src,
dst,
numpy2opencv_image(cam.get_K()),
numpy2opencv_image(cam.get_D()),
R=numpy2opencv_image(cam.get_rect()),
P=numpy2opencv_image(cam.get_P()))
undistorted_cv = opencv_pointmat2numpy(dst)
undistorted_np = cam.undistort(npdistorted)
assert undistorted_cv.shape == undistorted_np.shape
if cam.is_opencv_compatible():
assert np.allclose(undistorted_cv, undistorted_np)
else:
from nose.plugins.skip import SkipTest
raise SkipTest(
"Test %s is skipped: %s" %
(check_undistortion.__name__,
'camera model is not OpenCV compatible, skipping test'))
def check_undistortion(cam_opts):
cam = _build_test_camera(**cam_opts)
step = 5
border = 65
distorteds = []
for row in range(border, cam.height-border, step):
for col in range(border, cam.width-border, step):
distorted = [col, row]
distorteds.append(distorted)
npdistorted = np.array(distorteds,dtype=np.float)
src = numpy2opencv_pointmat(npdistorted)
dst = cv.CloneMat(src)
cv.UndistortPoints(src, dst,
numpy2opencv_image(cam.get_K()),
numpy2opencv_image(cam.get_D()),
R = numpy2opencv_image(cam.get_rect()),
P = numpy2opencv_image(cam.get_P()))
undistorted_cv = opencv_pointmat2numpy(dst)
undistorted_np = cam.undistort( npdistorted )
assert undistorted_cv.shape == undistorted_np.shape
if cam.is_opencv_compatible():
assert np.allclose(undistorted_cv, undistorted_np)
else:
from nose.plugins.skip import SkipTest
raise SkipTest("Test %s is skipped: %s" %(
check_undistortion.__name__,
'camera model is not OpenCV compatible, skipping test'))
def check_projection(cam_opts,distorted=True):
cam = _build_test_camera(**cam_opts)
R = cam.get_rect()
if not np.allclose(R, np.eye(3)):
# opencv's ProjectPoints2 does not take into account
# rectifciation matrix, thus we skip this test.
from nose.plugins.skip import SkipTest
raise SkipTest("Test %s is skipped: %s" %(
check_projection.__name__,
'cannot check if rectification matrix is not unity'))
pts3D = _build_points_3d()
n_pts = len(pts3D)
src = numpy2opencv_image(pts3D)
dst = numpy2opencv_pointmat(np.empty( (n_pts, 2) ))
t = np.array(cam.get_translation(),copy=True)
t.shape = 3,1
R = cam.get_rotation()
rvec = numpy2opencv_image(np.empty( (1,3) ))
cv.Rodrigues2(numpy2opencv_image(R), rvec)
if distorted:
K = cam.get_K()
cv_distortion = numpy2opencv_image(cam.get_D())
else:
K = cam.get_P()[:3,:3]
cv_distortion = numpy2opencv_image(np.zeros((5,1)))
cv.ProjectPoints2(src,
rvec,
numpy2opencv_image(t),
numpy2opencv_image(K),
cv_distortion,
dst)
result_cv = opencv_pointmat2numpy(dst)
result_np = cam.project_3d_to_pixel( pts3D, distorted=distorted )
assert result_cv.shape == result_np.shape
if cam.is_opencv_compatible():
try:
assert np.allclose(result_cv, result_np)
except:
debug()
debug('result_cv')
debug(result_cv)
debug('result_np')
debug(result_np)
debug()
raise
else:
from nose.plugins.skip import SkipTest
raise SkipTest("Test %s is skipped: %s" %(
check_projection.__name__,
'camera model is not OpenCV compatible, skipping test'))
def check_projection(cam_opts, distorted=True):
cam = _build_test_camera(**cam_opts)
R = cam.get_rect()
if not np.allclose(R, np.eye(3)):
# opencv's ProjectPoints2 does not take into account
# rectifciation matrix, thus we skip this test.
from nose.plugins.skip import SkipTest
raise SkipTest("Test %s is skipped: %s" %
(check_projection.__name__,
'cannot check if rectification matrix is not unity'))
pts3D = _build_points_3d()
n_pts = len(pts3D)
src = numpy2opencv_image(pts3D)
dst = numpy2opencv_pointmat(np.empty((n_pts, 2)))
t = np.array(cam.get_translation(), copy=True)
t.shape = 3, 1
R = cam.get_rotation()
rvec = numpy2opencv_image(np.empty((1, 3)))
cv.Rodrigues2(numpy2opencv_image(R), rvec)
if distorted:
K = cam.get_K()
cv_distortion = numpy2opencv_image(cam.get_D())
else:
K = cam.get_P()[:3, :3]
cv_distortion = numpy2opencv_image(np.zeros((5, 1)))
cv.ProjectPoints2(src, rvec, numpy2opencv_image(t), numpy2opencv_image(K),
cv_distortion, dst)
result_cv = opencv_pointmat2numpy(dst)
result_np = cam.project_3d_to_pixel(pts3D, distorted=distorted)
assert result_cv.shape == result_np.shape
if cam.is_opencv_compatible():
try:
assert np.allclose(result_cv, result_np)
except:
debug()
debug('result_cv')
debug(result_cv)
debug('result_np')
debug(result_np)
debug()
raise
else:
from nose.plugins.skip import SkipTest
raise SkipTest(
"Test %s is skipped: %s" %
(check_projection.__name__,
'camera model is not OpenCV compatible, skipping test'))
