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#!/usr/bin/env python3
r'''Tests mrcal_rectification_maps() and mrcal.rectification_maps()
'''
import sys
import numpy as np
import numpysane as nps
import os
testdir = os.path.dirname(os.path.realpath(__file__))
# I import the LOCAL mrcal since that's what I'm testing
sys.path[:0] = f"{testdir}/..",
import mrcal
import testutils
# I want to generate a stereo pair. I tweak the intrinsics a bit
model0 = mrcal.cameramodel(f"{testdir}/data/cam0.opencv8.cameramodel")
model1 = mrcal.cameramodel(model0)
intrinsics_data = model1.intrinsics()[1]
intrinsics_data[ :2] *= np.array((1.01, -0.98))
intrinsics_data[2:4] += np.array((50, 80.))
model1.intrinsics( intrinsics = (model1.intrinsics()[0],
intrinsics_data) )
# Left-right stereo, with sizeable rotation and position fuzz.
# I especially make sure there's a forward/back shift
rt01 = np.array((0.1, 0.2, 0.05, 3.0, 0.2, 1.0))
model1.rt_ref_cam( mrcal.compose_rt(model0.rt_ref_cam(),
rt01))
for rectification in ('LENSMODEL_LATLON', 'LENSMODEL_PINHOLE'):
for zoom in (0.6, 1., 10.):
def apply_zoom(model, zoom):
intrinsics_data_zoomed = np.array(model.intrinsics()[1])
intrinsics_data_zoomed[:2] *= zoom
return (model.intrinsics()[0],
intrinsics_data_zoomed)
model0_zoom = mrcal.cameramodel(model0)
model1_zoom = mrcal.cameramodel(model1)
for m in (model0_zoom, model1_zoom):
m.intrinsics( intrinsics = apply_zoom(m,zoom) )
# I use the canonical rectified-system function here to make sure that this
# test checks only the rectification_maps function
az_fov_deg = 90
el_fov_deg = 50
models_rectified = \
mrcal.stereo._rectified_system_python( (model0_zoom, model1_zoom),
az_fov_deg = az_fov_deg/zoom,
el_fov_deg = el_fov_deg/zoom,
pixels_per_deg_az = -1./8.,
pixels_per_deg_el = -1./4.,
rectification_model = rectification)
rectification_maps_ref = \
mrcal.stereo._rectification_maps_python((model0,model1),
models_rectified)
rectification_maps_ref = np.array(rectification_maps_ref)
rectification_maps = \
mrcal.rectification_maps((model0,model1),
models_rectified)
# some pinhole maps have crazy behavior on the edges (WAAAAAAY out of
# view), and I ignore it
rectification_maps [rectification_maps > 1e6] = 0
rectification_maps_ref[rectification_maps_ref > 1e6] = 0
testutils.confirm_equal(rectification_maps,
rectification_maps_ref,
msg=f'Pixel error with ({rectification}). Zoom = {zoom}',
worstcase = True,
eps = 1e-6)
testutils.finish()
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