| import os | |
| import sys | |
| sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..', '..', '..'))) | |
| import utils3d | |
| import numpy as np | |
| import glm | |
| def run(): | |
| for i in range(100): | |
| if i == 0: | |
| spatial = [] | |
| N = 1 | |
| else: | |
| dim = np.random.randint(4) | |
| spatial = [np.random.randint(1, 10) for _ in range(dim)] | |
| N = np.random.randint(1, 10) | |
| focal_x = np.random.uniform(0, 10, spatial) | |
| focal_y = np.random.uniform(0, 10, spatial) | |
| center_x = np.random.uniform(0, 1, spatial) | |
| center_y = np.random.uniform(0, 1, spatial) | |
| eye = np.random.uniform(-10, 10, [*spatial, 3]) | |
| lookat = np.random.uniform(-10, 10, [*spatial, 3]) | |
| up = np.random.uniform(-10, 10, [*spatial, 3]) | |
| points = np.random.uniform(-10, 10, [*spatial, N, 3]) | |
| expected = points | |
| actual = utils3d.numpy.transforms.unproject_cv( | |
| *utils3d.numpy.transforms.project_cv(points, | |
| utils3d.numpy.transforms.extrinsics_look_at(eye, lookat, up), | |
| utils3d.numpy.transforms.intrinsics(focal_x, focal_y, center_x, center_y)), | |
| utils3d.numpy.transforms.extrinsics_look_at(eye, lookat, up), | |
| utils3d.numpy.transforms.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' + \ | |
| f'\teye: {eye}\n' + \ | |
| f'\tlookat: {lookat}\n' + \ | |
| f'\tup: {up}\n' + \ | |
| f'\tpoints: {points}\n' + \ | |
| 'Actual:\n' + \ | |
| f'{actual}\n' + \ | |
| 'Expected:\n' + \ | |
| f'{expected}' | |