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 test_simple_projection():
# get some 3D points
pts_3d = _build_points_3d()
if DRAW:
fig = plt.figure(figsize=(8, 12))
ax1 = fig.add_subplot(3, 1, 1, projection='3d')
ax1.scatter(pts_3d[:, 0], pts_3d[:, 1], pts_3d[:, 2])
ax1.set_xlabel('X')
ax1.set_ylabel('Y')
ax1.set_zlabel('Z')
# build a camera calibration matrix
focal_length = 1200
width, height = 640, 480
R = np.eye(3) # look at +Z
c = np.array((9.99, 19.99, 20))
M = make_M(focal_length, width, height, R, c)['M']
# now, project these 3D points into our image plane
pts_3d_H = np.vstack((pts_3d.T, np.ones((1, len(pts_3d))))) # make homog.
undist_rst_simple = np.dot(M, pts_3d_H) # multiply
undist_simple = undist_rst_simple[:2, :] / undist_rst_simple[
2, :] # project
if DRAW:
ax2 = fig.add_subplot(3, 1, 2)
ax2.plot(undist_simple[0, :], undist_simple[1, :], 'b.')
ax2.set_xlim(0, width)
ax2.set_ylim(height, 0)
ax2.set_title('matrix multiply')
# build a camera model from our M and project onto image plane
cam = CameraModel.load_camera_from_M(M, width=width, height=height)
undist_full = cam.project_3d_to_pixel(pts_3d).T
if DRAW:
plot_camera(ax1, cam, scale=10, axes_size=5.0)
sz = 20
x = 5
y = 8
z = 19
ax1.auto_scale_xyz([x, x + sz], [y, y + sz], [z, z + sz])
ax3 = fig.add_subplot(3, 1, 3)
ax3.plot(undist_full[0, :], undist_full[1, :], 'b.')
ax3.set_xlim(0, width)
ax3.set_ylim(height, 0)
ax3.set_title('pymvg')
if DRAW:
plt.show()
assert np.allclose(undist_full, undist_simple)
def test_simple_projection():
# get some 3D points
pts_3d = _build_points_3d()
if DRAW:
fig = plt.figure(figsize=(8,12))
ax1 = fig.add_subplot(3,1,1, projection='3d')
ax1.scatter( pts_3d[:,0], pts_3d[:,1], pts_3d[:,2])
ax1.set_xlabel('X')
ax1.set_ylabel('Y')
ax1.set_zlabel('Z')
# build a camera calibration matrix
focal_length = 1200
width, height = 640,480
R = np.eye(3) # look at +Z
c = np.array( (9.99, 19.99, 20) )
M = make_M( focal_length, width, height, R, c)['M']
# now, project these 3D points into our image plane
pts_3d_H = np.vstack( (pts_3d.T, np.ones( (1,len(pts_3d))))) # make homog.
undist_rst_simple = np.dot(M, pts_3d_H) # multiply
undist_simple = undist_rst_simple[:2,:]/undist_rst_simple[2,:] # project
if DRAW:
ax2 = fig.add_subplot(3,1,2)
ax2.plot( undist_simple[0,:], undist_simple[1,:], 'b.')
ax2.set_xlim(0,width)
ax2.set_ylim(height,0)
ax2.set_title('matrix multiply')
# build a camera model from our M and project onto image plane
cam = CameraModel.load_camera_from_M( M, width=width, height=height )
undist_full = cam.project_3d_to_pixel(pts_3d).T
if DRAW:
plot_camera( ax1, cam, scale=10, axes_size=5.0 )
sz = 20
x = 5
y = 8
z = 19
ax1.auto_scale_xyz( [x,x+sz], [y,y+sz], [z,z+sz] )
ax3 = fig.add_subplot(3,1,3)
ax3.plot( undist_full[0,:], undist_full[1,:], 'b.')
ax3.set_xlim(0,width)
ax3.set_ylim(height,0)
ax3.set_title('pymvg')
if DRAW:
plt.show()
assert np.allclose( undist_full, undist_simple )
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'))
