def test_clone_look_at(self):
pp = EigenArray.from_iterable([300, 400])
k = CameraIntrinsics(1000, pp)
focus = EigenArray.from_iterable([0, 1, -2])
base = Camera([3, -4, 7], Rotation(), k)
cam = base.clone_look_at(focus)
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project(focus)
nose.tools.assert_almost_equal(numpy.linalg.norm(ifocus - pp, 2), 0.,
12)
ifocus_up = cam.project(focus + EigenArray.from_iterable([0, 0, 2]))
tmp = ifocus_up - pp
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
def test_clone_look_at(self):
pp = EigenArray.from_array([[300], [400]])
k = CameraIntrinsics(1000, [300, 400])
focus = EigenArray.from_array([[0], [1], [-2]])
center = EigenArray.from_array([[3],[-4],[7]])
base = Camera(center, Rotation(), k)
cam = base.clone_look_at(numpy.array([0,1,2]))
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project([0,1,2])
nose.tools.assert_almost_equal(numpy.linalg.norm(ifocus - pp.get_matrix().T, 2),
0., 12)
ifocus_up = cam.project([0,1,4])
tmp = (ifocus_up - pp.get_matrix().T)[0]
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
def test_clone_look_at(self):
pp = EigenArray.from_array([[300], [400]])
k = CameraIntrinsics(1000, [300, 400])
focus = EigenArray.from_array([[0], [1], [-2]])
center = EigenArray.from_array([[3], [-4], [7]])
base = Camera(center, Rotation(), k)
cam = base.clone_look_at(numpy.array([0, 1, 2]))
nose.tools.assert_not_equal(base, cam)
ifocus = cam.project([0, 1, 2])
nose.tools.assert_almost_equal(
numpy.linalg.norm(ifocus - pp.get_matrix().T, 2), 0., 12)
ifocus_up = cam.project([0, 1, 4])
tmp = (ifocus_up - pp.get_matrix().T)[0]
nose.tools.assert_almost_equal(tmp[0], 0., 12)
nose.tools.assert_true(tmp[1] < 0.)
