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#!/usr/bin/env python3
r'''Validates estimate_monocular_calobject_poses_Rt_tocam()
estimate_monocular_calobject_poses_Rt_tocam() is part of the calibration seeding
functions. This uses solvePnP(), which is sensitive to the user-supplied
focal-length estimates. Here I load some data that has been a problem in the
past, and make sure that estimate_monocular_calobject_poses_Rt_tocam() can
handle it
'''
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
import pickle
# Load the data. These are written by the disabled-by-default code at the end of
# estimate_monocular_calobject_poses_Rt_tocam()
test_cases = (
# ./mrcal-calibrate-cameras \
# --corners-cache newfish-from-mike-email-extreme-fisheys/VuzeXR/calibration1/fishcorners.vnl \
# --lensmodel LENSMODEL_OPENCV8 \
# --focal 500 \
# --object-spacing 0.048 \
# --object-width-n 10 \
# --observed-pixel-uncertainty 2 \
# 'HET_0315_L*.jpg' 'HET_0315_R*.jpg'
'solvepnp-ultrawide-focal-too-long',
# ./mrcal-calibrate-cameras \
# --corners-cache doc/out/external/2022-11-05--dtla-overpass--samyang--alpha7/2-f22-infinity/corners.vnl \
# --lensmodel LENSMODEL_OPENCV8 \
# --focal 1900 \
# --object-spacing 0.0588 \
# --object-width-n 14 \
# --observed-pixel-uncertainty 2 \
# '*.JPG'
'solvepnp-wide-focal-too-wide')
for t in test_cases:
filename = f'{testdir}/data/{t}.pickle'
with open(filename,'rb') as f:
args = pickle.load(f)
testutils.confirm_does_not_raise( \
lambda: mrcal.estimate_monocular_calobject_poses_Rt_tocam(*args),
msg = t)
testutils.finish()
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