def test_camera_info(self):
width = 640
height = 480
fov_y = np.pi / 4
focal_y = height / 2 / np.tan(fov_y / 2)
focal_x = focal_y
center_x = width / 2 - 0.5
center_y = height / 2 - 0.5
intrinsic_matrix = np.array([[focal_x, 0, center_x],
[0, focal_y, center_y], [0, 0, 1]])
infos = [
mut.CameraInfo(width=width, height=height, fov_y=fov_y),
mut.CameraInfo(width=width,
height=height,
focal_x=focal_x,
focal_y=focal_y,
center_x=center_x,
center_y=center_y),
]
for info in infos:
self.assertEqual(info.width(), width)
self.assertEqual(info.height(), height)
self.assertEqual(info.focal_x(), focal_x)
self.assertEqual(info.focal_y(), focal_y)
self.assertEqual(info.center_x(), center_x)
self.assertEqual(info.center_y(), center_y)
self.assertTrue(
(info.intrinsic_matrix() == intrinsic_matrix).all())
assert_pickle(self, info, mut.CameraInfo.intrinsic_matrix)
def construct_single(parent_id, X_PB):
depth_camera = DepthRenderCamera(
RenderCameraCore("renderer",
mut.CameraInfo(width, height, np.pi / 6),
ClippingRange(0.1, 6.0), RigidTransform()),
DepthRange(0.1, 5.5))
return mut.RgbdSensor(parent_id=parent_id,
X_PB=X_PB,
depth_camera=depth_camera)
def construct(parent_id, X_PB):
color_camera = ColorRenderCamera(
RenderCameraCore("renderer",
mut.CameraInfo(width, height, np.pi / 6),
ClippingRange(0.1, 6.0), RigidTransform()),
False)
depth_camera = DepthRenderCamera(color_camera.core(),
DepthRange(0.1, 5.5))
return mut.RgbdSensor(parent_id=parent_id,
X_PB=X_PB,
color_camera=color_camera,
depth_camera=depth_camera)
