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import os
import sys
sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..', '..', '..')))
import utils3d
import numpy as np
def run():
for i in range(100):
if i == 0:
spatial = []
else:
dim = np.random.randint(4)
spatial = [np.random.randint(1, 10) for _ in range(dim)]
focal_x = np.random.uniform(1, 10000, spatial)
focal_y = np.random.uniform(1, 10000, spatial)
center_x = np.random.uniform(1, 10000, spatial)
center_y = np.random.uniform(1, 10000, spatial)
expected = np.zeros((*spatial, 3, 3))
expected[..., 0, 0] = focal_x
expected[..., 1, 1] = focal_y
expected[..., 0, 2] = center_x
expected[..., 1, 2] = center_y
expected[..., 2, 2] = 1
actual = utils3d.numpy.intrinsics(focal_x, focal_y, center_x, center_y)
assert np.allclose(expected, actual), '\n' + \
'Input:\n' + \
f'\tfocal_x: {focal_x}\n' + \
f'\tfocal_y: {focal_y}\n' + \
f'\tcenter_x: {center_x}\n' + \
f'\tcenter_y: {center_y}\n' + \
'Actual:\n' + \
f'{actual}\n' + \
'Expected:\n' + \
f'{expected}'
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