47 lines
1.2 KiB
Python
47 lines
1.2 KiB
Python
"""
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GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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SimpleCamera unit tests.
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Author: Frank Dellaert & Duy Nguyen Ta (Python)
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"""
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import math
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import unittest
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import numpy as np
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import gtsam
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from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, PinholeCameraCal3_S2 as SimpleCamera
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from gtsam.utils.test_case import GtsamTestCase
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K = Cal3_S2(625, 625, 0, 0, 0)
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class TestSimpleCamera(GtsamTestCase):
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def test_constructor(self):
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pose1 = Pose3(Rot3(np.diag([1, -1, -1])), Point3(0, 0, 0.5))
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camera = SimpleCamera(pose1, K)
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self.gtsamAssertEquals(camera.calibration(), K, 1e-9)
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self.gtsamAssertEquals(camera.pose(), pose1, 1e-9)
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def test_level2(self):
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# Create a level camera, looking in Y-direction
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pose2 = Pose2(0.4, 0.3, math.pi/2.0)
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camera = SimpleCamera.Level(K, pose2, 0.1)
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# expected
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x = Point3(1, 0, 0)
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y = Point3(0, 0, -1)
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z = Point3(0, 1, 0)
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wRc = Rot3(x, y, z)
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expected = Pose3(wRc, Point3(0.4, 0.3, 0.1))
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self.gtsamAssertEquals(camera.pose(), expected, 1e-9)
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if __name__ == "__main__":
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unittest.main()
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