| 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}' | |