def setUp(self):
self.rtol = 1e-7
self.atol = 1e-7
np.random.random(3,) - 0.5
self.R = rotation_matrix(np.random.random(3,) - 0.5, np.random.rand() * 2 * np.pi)
self.T = np.random.random((3,))
extrinsic_matrix = OpticalEquipment.extrinsic_matrix(self.R, self.T)
self.oe = OpticalEquipment(extrinsic_matrix, np.eye(3), None, (1600, 1200))
def setUp(self):
self.rtol = 1e-7
R = np.eye(3)
T = np.zeros(3)
intrinsic_matrix = np.eye(3)
distortion = np.zeros(5)
self.resolution = (4,3)
self.oe = OpticalEquipment(OpticalEquipment.extrinsic_matrix(R, T),
intrinsic_matrix, distortion, self.resolution)
def hard_coded_translation_test(self):
x = [0, 0, 0]
x_global = [1, 1, -1]
R = np.eye(3)
T = [-1, -1, 1]
extrinsic_matrix = OpticalEquipment.extrinsic_matrix(R, T)
oe = OpticalEquipment(extrinsic_matrix, np.eye(3), None, (32, 14))
assert_allclose(to_global_frame(x, oe), x_global, rtol=self.rtol)
def hard_coded_translation_and_rotation_test(self):
x = [0, 0, 0]
x_global = [1, 0, 0]
theta = np.radians(45)
R = [[np.cos(theta), 0, np.sin(theta)],
[0, 1, 0],
[-np.sin(theta), 0, np.cos(theta)]]
T = [-1/np.sqrt(2), 0, 1/np.sqrt(2)]
extrinsic_matrix = OpticalEquipment.extrinsic_matrix(R, T)
oe = OpticalEquipment(extrinsic_matrix, np.eye(3), None, (32, 14))
assert_allclose(to_global_frame(x, oe), x_global, rtol=self.rtol, atol=self.atol)
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 setUp(self):
self.focal_length = random((2,))
self.alpha = random()
self.principal_point = random((2,))
self.calculated_params = OpticalEquipment.intrinsic_parameters(
OpticalEquipment.intrinsic_matrix(self.focal_length, self.principal_point, self.alpha))
def setUp(self):
self.R = random((3,3))
self.T = random((3,))
self.calculated_params = OpticalEquipment.extrinsic_parameters(
OpticalEquipment.extrinsic_matrix(self.R, self.T))