def setUp(self):
self.rtol = 1e-7
self.atol = 1e-7
R = np.eye(3)
T = np.zeros(3)
extrinsic_matrix = OpticalEquipment.extrinsic_matrix(R, T)
intrinsic_matrix = np.eye(3)
distortion = np.zeros(5)
resolution = (3,2)
oe = DLPProjector(extrinsic_matrix, intrinsic_matrix,
distortion, resolution)
self.row_planes, self.col_planes = projector_planes(oe)
pixels = np.array([[[0, 0], [0, 1]],
[[1, 0], [1, 1]],
[[2, 0], [2, 1]]])
self.exp_row_planes = [[1, 0, 0, 0],
fit_plane([[1, 0, 1],[1, 1, 1],[0, 0, 0]]),
fit_plane([[2, 0, 1],[2, 1, 1],[0, 0, 0]])]
self.exp_col_planes = [[0, 1, 0, 0],
fit_plane([[0, 1, 1],[1, 1, 1],[2, 1, 1],[0, 0, 0]])]
def setUp(self):
self.rtol = 1e-7
self.atol = 1e-7
theta = np.radians(45)
R = [[np.cos(theta), 0, np.sin(theta)],
[0, 1, 0],
[-np.sin(theta), 0, np.cos(theta)]]
T = [-np.cos(theta), 0, np.sin(theta)]
extrinsic_matrix = OpticalEquipment.extrinsic_matrix(R, T)
intrinsic_matrix = np.eye(3)
distortion = np.zeros(5)
resolution = (2,2)
oe = DLPProjector(extrinsic_matrix, intrinsic_matrix,
distortion, resolution)
self.vert_planes, self.horz_planes = projector_planes(oe)
self.exp_vert_planes = [fit_plane([[1, 0, 0], [1, 1, 0], [0, 0, 1]]),
[1, 0, 0, 1]]
# find where z=1 in the projector plane for the x=0 points
x0 = 1 - 1/np.sqrt(2)
z0 = 1/np.sqrt(2)
self.exp_horz_planes = [[0, 1, 0, 0],
fit_plane([[1, 0, 0], [x0, 1, z0], [1, 1, np.sqrt(2)]])]
def projector_planes(proj):
"""
Function: projector_planes
Generates the planes representing each row and column of the projector
Parameters:
proj - *<DLPProjector>* The projector to generate the planes of
Returns:
*Tuple* in the form (vertical_planes, horizontal_planes). row_planes will have shape
(width, 4) and col_planes will have shape (height, 4). Each plane is defined
by the coefficients [a, b, c, d], where a*x + b*y + c*z = d
"""
# generate pixel rays in the projector frame
proj_pixels_proj_frame = pixel_rays(proj)
from nose.tools import set_trace; set_trace()
# translate and rotate the rays into the global frame
proj_pixels = to_global_frame(proj_pixels_proj_frame, proj)
# get projector location in the global frame
proj_pose = to_global_frame([0, 0, 0], proj)
# add projector location to the vertical points
vertical_shape = (proj.resolution[0], 1, 3)
proj_points_vertical = np.concatenate((proj_pixels, np.ones(vertical_shape) * proj_pose), axis=1)
# calculate the vertical planes
proj_planes_vertical = fit_plane(proj_points_vertical)
# add projector location to the horizontalumn points
horizontal_shape = (1, proj.resolution[1], 3)
proj_points_horizontal = np.concatenate((proj_pixels, np.ones(horizontal_shape) * proj_pose), axis=0)
# calculate the horizontalumn planes
proj_planes_horizontal = fit_plane(np.transpose(proj_points_horizontal, (1, 0, 2)))
return proj_planes_vertical, proj_planes_horizontal
