Python fisheye interface #811
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| Original file line number | Diff line number | Diff line change |
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| """ | ||
| GTSAM Copyright 2010-2019, Georgia Tech Research Corporation, | ||
| Atlanta, Georgia 30332-0415 | ||
| All Rights Reserved | ||
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| See LICENSE for the license information | ||
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| Cal3Unified unit tests. | ||
| Author: Frank Dellaert & Duy Nguyen Ta (Python) | ||
| """ | ||
| import unittest | ||
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| import numpy as np | ||
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| import gtsam | ||
| from gtsam.utils.test_case import GtsamTestCase | ||
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| class TestCal3Fisheye(GtsamTestCase): | ||
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| def test_Cal3Fisheye(self): | ||
| K = gtsam.Cal3Fisheye() | ||
| self.assertEqual(K.fx(), 1.) | ||
| self.assertEqual(K.fy(), 1.) | ||
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| def test_distortion(self): | ||
| "Equidistant fisheye model of focal length f, defined as r/f = tan(theta)" | ||
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There was a problem hiding this comment. Make this into triple-quote doctsring? |
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| equidistant = gtsam.Cal3Fisheye() | ||
| x, y, z = 1, 0, 1 | ||
| u, v = equidistant.uncalibrate([x, y]) | ||
| x2, y2 = equidistant.calibrate([u, v]) | ||
| self.assertAlmostEqual(u, np.arctan2(x, z)) | ||
| self.assertAlmostEqual(v, 0) | ||
| self.assertAlmostEqual(x2, x) | ||
| self.assertAlmostEqual(y2, 0) | ||
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| def test_pinhole(self): | ||
| "Spatial equidistant camera projection" | ||
| x, y, z = 1.0, 0.0, 1.0 | ||
| u, v = np.arctan2(x, z), 0.0 | ||
| camera = gtsam.PinholeCameraCal3Fisheye() | ||
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There was a problem hiding this comment. A lot of the review comments also apply here. Please ask for another round of reviews after updating these. 🙂 |
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| pt1 = camera.Project([x, y, z]) | ||
| self.gtsamAssertEquals(pt1, np.array([x/z, y/z])) | ||
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| pt2 = camera.project([x, y, z]) | ||
| self.gtsamAssertEquals(pt2, np.array([u, v])) | ||
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| obj1 = camera.backproject([u, v], z) | ||
| self.gtsamAssertEquals(obj1, np.array([x, y, z])) | ||
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| r1 = camera.range(np.array([x, y, z])) | ||
| self.assertEqual(r1, np.linalg.norm([x, y, z])) | ||
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| def test_generic_factor(self): | ||
| "Evaluate residual using pose and point as state variables" | ||
| objPoint = np.array([1, 0, 1]) | ||
| imgPoint = np.array([np.arctan2(objPoint[0], objPoint[2]), 0]) | ||
| graph = gtsam.NonlinearFactorGraph() | ||
| state = gtsam.Values() | ||
| measured = imgPoint | ||
| noiseModel = gtsam.noiseModel.Isotropic.Sigma(2, 1) | ||
| poseKey = gtsam.symbol_shorthand.P(0) | ||
| pointKey = gtsam.symbol_shorthand.L(0) | ||
| k = gtsam.Cal3Fisheye() | ||
| state.insert_pose3(poseKey, gtsam.Pose3()) | ||
| state.insert_point3(pointKey, gtsam.Point3(objPoint)) | ||
| factor = gtsam.GenericProjectionFactorCal3Fisheye(measured, noiseModel, poseKey, pointKey, k) | ||
| graph.add(factor) | ||
| score = graph.error(state) | ||
| self.assertAlmostEqual(score, 0) | ||
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| def test_sfm_factor2(self): | ||
| "Evaluate residual with camera, pose and point as state variables" | ||
| objPoint = np.array([1, 0, 1]) | ||
| imgPoint = np.array([np.arctan2(objPoint[0], objPoint[2]), 0]) | ||
| graph = gtsam.NonlinearFactorGraph() | ||
| state = gtsam.Values() | ||
| measured = imgPoint | ||
| noiseModel = gtsam.noiseModel.Isotropic.Sigma(2, 1) | ||
| cameraKey = gtsam.symbol_shorthand.K(0) | ||
| poseKey = gtsam.symbol_shorthand.P(0) | ||
| landmarkKey = gtsam.symbol_shorthand.L(0) | ||
| k = gtsam.Cal3Fisheye() | ||
| state.insert_cal3fisheye(cameraKey, k) | ||
| state.insert_pose3(poseKey, gtsam.Pose3()) | ||
| state.insert_point3(landmarkKey, gtsam.Point3(objPoint)) | ||
| factor = gtsam.GeneralSFMFactor2Cal3Fisheye(measured, noiseModel, poseKey, landmarkKey, cameraKey) | ||
| graph.add(factor) | ||
| score = graph.error(state) | ||
| self.assertAlmostEqual(score, 0) | ||
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| def test_retract(self): | ||
| expected = gtsam.Cal3Fisheye(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, | ||
| 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10) | ||
| K = gtsam.Cal3Fisheye(100, 105, 0.0, 320, 240, | ||
| 1e-3, 2.0*1e-3, 3.0*1e-3, 4.0*1e-3) | ||
| d = np.array([2, 3, 4, 5, 6, 7, 8, 9, 10], order='F') | ||
| actual = K.retract(d) | ||
| self.gtsamAssertEquals(actual, expected) | ||
| np.testing.assert_allclose(d, K.localCoordinates(actual)) | ||
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| if __name__ == "__main__": | ||
| unittest.main() | ||
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Hmmm. why do we even have these typedefs and includes here? Seems like it exacerbates header bloat/compile times.
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My guess is that it is an artifact of before we understood the wrapper's behavior really well. The wrapper has seen some nice improvements in the past year so we may as well kill this, while moving the typedef for
Cal3_S2inside the deprecation block.