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comparison trafficintelligence/tests/cvutils.txt @ 1287:76f5693b530c

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updated tests for numpy 2
author Nicolas Saunier <nicolas.saunier@polymtl.ca>
date Sat, 20 Jul 2024 20:35:21 -0400
parents aafbc0bab925
children
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1284:8e30c9a6ac6f 1287:76f5693b530c
8 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.]) 8 >>> distortionCoefficients = array([-0.11759321, 0.0148536, 0.00030756, -0.00020578, -0.00091816])# distortionCoefficients = array([-0.11759321, 0., 0., 0., 0.])
9 >>> multiplicationFactor = 1.31 9 >>> multiplicationFactor = 1.31
10 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients) 10 >>> [map1, map2], tmp = cvutils.computeUndistortMaps(width, height, multiplicationFactor, intrinsicCameraMatrix, distortionCoefficients)
11 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR) 11 >>> undistorted = cv2.remap(img, map1, map2, interpolation=cv2.INTER_LINEAR)
12 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all() 12 >>> (undistorted.shape == array([int(round(height*multiplicationFactor)), int(round(width*multiplicationFactor)), 3])).all()
13 True 13 np.True_
14 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]]) 14 >>> imgPoints = array([[[150.,170.],[220.,340.],[340.,440.],[401.,521.]]])
15 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True) 15 >>> newCameraMatrix = cv2.getDefaultNewCameraMatrix(intrinsicCameraMatrix, (int(round(width*multiplicationFactor)), int(round(height*multiplicationFactor))), True)
16 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) # undistort and project as if seen by new camera 16 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients, P = newCameraMatrix).reshape(-1, 2) # undistort and project as if seen by new camera
17 >>> invNewCameraMatrix = linalg.inv(newCameraMatrix) 17 >>> invNewCameraMatrix = linalg.inv(newCameraMatrix)
18 >>> tmp = ones((imgPoints[0].shape[0], 3)) 18 >>> tmp = ones((imgPoints[0].shape[0], 3))
19 >>> tmp[:,:2] = undistortedPoints 19 >>> tmp[:,:2] = undistortedPoints
20 >>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T 20 >>> reducedPoints = dot(invNewCameraMatrix, tmp.T).T
21 >>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2) 21 >>> origPoints = cv2.projectPoints(reducedPoints, (0.,0.,0.), (0.,0.,0.), intrinsicCameraMatrix, distortionCoefficients)[0].reshape(-1,2)
22 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() 22 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
23 True 23 np.True_
24 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. 24 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
25 True 25 np.True_
26 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix) 26 >>> reducedPoints2 = cvutils.newCameraProject(undistortedPoints.T, invNewCameraMatrix)
27 >>> (reducedPoints == reducedPoints).all() 27 >>> (reducedPoints == reducedPoints).all()
28 True 28 np.True_
29 29
30 >>> undistortedPoints2 = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort and project as if seen by new camera 30 >>> undistortedPoints2 = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort and project as if seen by new camera
31 >>> undistortedPoints2 = cvutils.newCameraProject(undistortedPoints2.T, newCameraMatrix) 31 >>> undistortedPoints2 = cvutils.newCameraProject(undistortedPoints2.T, newCameraMatrix)
32 >>> (undistortedPoints == undistortedPoints2.T).all() 32 >>> (undistortedPoints == undistortedPoints2.T).all()
33 True 33 np.True_
34 34
35 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points 35 >>> undistortedPoints = cv2.undistortPoints(imgPoints, intrinsicCameraMatrix, distortionCoefficients).reshape(-1, 2) # undistort to ideal points
36 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T 36 >>> origPoints = cvutils.worldToImageProject(undistortedPoints.T, intrinsicCameraMatrix, distortionCoefficients).T
37 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() 37 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
38 True 38 np.True_
39 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. 39 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
40 True 40 np.True_
41 41
42 >>> undistortedPoints = cvutils.imageToWorldProject(imgPoints[0].T, intrinsicCameraMatrix, distortionCoefficients) 42 >>> undistortedPoints = cvutils.imageToWorldProject(imgPoints[0].T, intrinsicCameraMatrix, distortionCoefficients)
43 >>> origPoints = cvutils.worldToImageProject(undistortedPoints, intrinsicCameraMatrix, distortionCoefficients).T 43 >>> origPoints = cvutils.worldToImageProject(undistortedPoints, intrinsicCameraMatrix, distortionCoefficients).T
44 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all() 44 >>> (round(origPoints[1:,:]) == imgPoints[0][1:,:]).all()
45 True 45 np.True_
46 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6. 46 >>> (absolute(origPoints[0,:]-imgPoints[0][0,:])).max() < 6.
47 True 47 np.True_