def test_free(self): cam = RectifiedCamera(DefaultParams()) free_list = cam.calc_free( {"baseline_shift":0, "f_shift":0, "cx_shift":0, "cy_shift":0} ) self.assertEqual(free_list[0], False) free_list = cam.calc_free( {"baseline_shift":1, "f_shift":0, "cx_shift":0, "cy_shift":0} ) self.assertEqual(free_list[0], True) self.assertEqual(len(free_list), 4)
def test_project_easy_2(self): cam = RectifiedCamera(DefaultParams()) P_list = [ 1, 0, 0,-1, \ 0, 1, 0, 0, \ 0, 0, 1, 0 ] pts = matrix([[0, 1, 0, 2], [0, 1, 1, 0], [1, 1, 2, 2], [1, 1, 1, 1]], float) expected = matrix([[-1, 0, -.5, .5], [0, 1, .5, 0]]) result = cam.project(P_list, pts) print "" print result self.assertAlmostEqual(numpy.linalg.norm(result - expected), 0.0, 6)
def test_free(self): cam = RectifiedCamera(DefaultParams()) free_list = cam.calc_free({ "baseline_shift": 0, "f_shift": 0, "cx_shift": 0, "cy_shift": 0 }) self.assertEqual(free_list[0], False) free_list = cam.calc_free({ "baseline_shift": 1, "f_shift": 0, "cx_shift": 0, "cy_shift": 0 }) self.assertEqual(free_list[0], True) self.assertEqual(len(free_list), 4)
def test_project_easy_2(self): cam = RectifiedCamera(DefaultParams()) P_list = [ 1, 0, 0,-1, \ 0, 1, 0, 0, \ 0, 0, 1, 0 ] pts = matrix( [ [ 0, 1, 0, 2 ], [ 0, 1, 1, 0 ], [ 1, 1, 2, 2 ], [ 1, 1, 1, 1 ]], float ) expected = matrix( [ [-1, 0,-.5,.5], [ 0, 1, .5, 0] ] ) result = cam.project(P_list, pts) print "" print result self.assertAlmostEqual(numpy.linalg.norm(result-expected), 0.0, 6)
def test_deflate(self): params = DefaultParams() params['baseline_shift'] = 10 cam = RectifiedCamera(params) self.assertEqual(cam.deflate()[0, 0], 10)
def test_length(self): cam = RectifiedCamera(DefaultParams()) self.assertEqual(cam.get_length(), 4)
def test_params_to_config(self): cam = RectifiedCamera(DefaultParams()) p = matrix([1, 0, 0, 0], float).T config = cam.params_to_config(p) self.assertAlmostEqual(config["baseline_shift"], 1, 6)
def test_deflate(self): params = DefaultParams() params['baseline_shift'] = 10 cam = RectifiedCamera(params) self.assertEqual(cam.deflate()[0,0], 10)