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fisheye_camera_test.py
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import pytheia as pt
import numpy as np
from test_utils import Reprojection
def test_InternalParameterGetterandSetter():
camera = pt.sfm.FisheyeCameraModel()
assert camera.Type() == pt.sfm.CameraIntrinsicsModelType.FISHEYE
# Check that default values are set
assert camera.FocalLength() == 1.0
assert camera.AspectRatio() == 1.0
assert camera.Skew() == 0.0
assert camera.PrincipalPointX() == 0.0
assert camera.PrincipalPointY() == 0.0
assert camera.RadialDistortion1() == 0.0
assert camera.RadialDistortion2() == 0.0
assert camera.RadialDistortion3() == 0.0
assert camera.RadialDistortion4() == 0.0
# Set parameters to different values.
camera.SetFocalLength(600.0)
camera.SetAspectRatio(0.9)
camera.SetSkew (0.01)
camera.SetPrincipalPoint(300.0, 400.0)
camera.SetRadialDistortion(0.01, 0.001, 0.002, 0.003)
# Check the values are updated
assert camera.FocalLength() == 600.0
assert camera.AspectRatio() == 0.9
assert camera.Skew() == 0.01
assert camera.PrincipalPointX() == 300.0
assert camera.PrincipalPointY() == 400.0
assert camera.RadialDistortion1() == 0.01
assert camera.RadialDistortion2() == 0.001
assert camera.RadialDistortion3() == 0.002
assert camera.RadialDistortion4() == 0.003
# Test to ensure that the camera intrinsics are being set appropriately.
def SetFromCameraintrinsicsPrior(prior):
default_camera = pt.sfm.FisheyeCameraModel()
camera = pt.sfm.FisheyeCameraModel()
camera.SetFromCameraIntrinsicsPriors(prior)
if(prior.focal_length.is_set):
assert camera.FocalLength() == prior.focal_length.value[0]
else:
assert camera.FocalLength() == default_camera.FocalLength()
if(prior.aspect_ratio.is_set):
assert camera.AspectRatio() == prior.aspect_ratio.value[0]
else:
assert camera.AspectRatio() == default_camera.AspectRatio()
if(prior.skew.is_set):
assert camera.Skew() == prior.skew.value[0]
else:
assert camera.Skew() == default_camera.Skew()
if(prior.principal_point.is_set):
assert camera.PrincipalPointX() == prior.principal_point.value[0]
assert camera.PrincipalPointY() == prior.principal_point.value[1]
else:
assert camera.PrincipalPointX() == default_camera.PrincipalPointX()
assert camera.PrincipalPointY() == default_camera.PrincipalPointY()
if(prior.radial_distortion.is_set):
assert camera.RadialDistortion1() == prior.radial_distortion.value[0]
assert camera.RadialDistortion2() == prior.radial_distortion.value[1]
assert camera.RadialDistortion3() == prior.radial_distortion.value[2]
assert camera.RadialDistortion4() == prior.radial_distortion.value[3]
else:
assert camera.RadialDistortion1() == default_camera.RadialDistortion1()
assert camera.RadialDistortion2() == default_camera.RadialDistortion2()
assert camera.RadialDistortion3() == default_camera.RadialDistortion3()
assert camera.RadialDistortion4() == default_camera.RadialDistortion4()
'''
Gradually add one prior at a time and ensure that the method still works. We
test before and after setting the "is_set" member variable to true to ensure
that setting the value of priors when is_set=false is handled properly.
'''
def test_SetFromCameraIntrinsicsPriors():
prior = pt.sfm.CameraIntrinsicsPrior()
prior.focal_length.value = np.array([1000.0])
prior.principal_point.value = np.array([400.0, 300.0])
prior.aspect_ratio.value[0] = np.array([1.01])
prior.skew.value[0] = np.array([0.01])
prior.radial_distortion.value = np.array([0.01, 0.001, 0.001, 0.001])
SetFromCameraintrinsicsPrior(prior)
prior.focal_length.is_set = True
SetFromCameraintrinsicsPrior(prior)
prior.principal_point.is_set = True
SetFromCameraintrinsicsPrior(prior)
prior.aspect_ratio.is_set = True
SetFromCameraintrinsicsPrior(prior)
prior.skew.is_set = True
SetFromCameraintrinsicsPrior(prior)
prior.radial_distortion.is_set = True
SetFromCameraintrinsicsPrior(prior)
def test_reprejection_nodistortion():
kPrincipalPoint = np.array([600.0, 400.0])
kFocalLength = 1200
camera = pt.sfm.FisheyeCameraModel()
camera.SetFocalLength(kFocalLength)
camera.SetPrincipalPoint(kPrincipalPoint[0], kPrincipalPoint[1])
camera.SetRadialDistortion(0, 0, 0, 0)
Reprojection(camera)
def test_reprejection_onedistortion():
kPrincipalPoint = np.array([600.0, 400.0])
kFocalLength = 1200
camera = pt.sfm.FisheyeCameraModel()
camera.SetFocalLength(kFocalLength)
camera.SetPrincipalPoint(kPrincipalPoint[0], kPrincipalPoint[1])
camera.SetRadialDistortion(0.01, 0, 0, 0)
Reprojection(camera)
def test_reprejection_twodistortion():
kPrincipalPoint = np.array([600.0, 400.0])
kFocalLength = 1200
camera = pt.sfm.FisheyeCameraModel()
camera.SetFocalLength(kFocalLength)
camera.SetPrincipalPoint(kPrincipalPoint[0], kPrincipalPoint[1])
camera.SetRadialDistortion(0.01, 0.001, 0, 0)
Reprojection(camera)
def test_reprejection_threedistortion():
kPrincipalPoint = np.array([600.0, 400.0])
kFocalLength = 1200
camera = pt.sfm.FisheyeCameraModel()
camera.SetFocalLength(kFocalLength)
camera.SetPrincipalPoint(kPrincipalPoint[0], kPrincipalPoint[1])
camera.SetRadialDistortion(0.01, 0.001, 0.001, 0)
Reprojection(camera)
def test_reprejection_fourdistortion():
kPrincipalPoint = np.array([600.0, 400.0])
kFocalLength = 1200
camera = pt.sfm.FisheyeCameraModel()
camera.SetFocalLength(kFocalLength)
camera.SetPrincipalPoint(kPrincipalPoint[0], kPrincipalPoint[1])
camera.SetRadialDistortion(0.01, 0.001, 0.001, 0.001)
Reprojection(camera)
if __name__ == "__main__":
test_InternalParameterGetterandSetter()
test_SetFromCameraIntrinsicsPriors()
test_reprejection_nodistortion()
test_reprejection_onedistortion()
test_reprejection_twodistortion()
test_reprejection_threedistortion()
test_reprejection_fourdistortion()