public void Projection_of_point_behind_camera_is_null()
{
var camera = new CameraModel(focalLength: 7.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
var point = new Vector3(xy: Vector2.Zero, z: -17);
var projection = camera.Project(point);
Expect(projection == null);
}
private static void PrepareSegmentsForCropVisibleTest(CameraModel camera, Interval chordInterval, out Segment2 chord, out Segment2 segment2, out Segment3 segment3)
{
chord = new Segment2(camera.Domain.GetEdge(0).PointAt(0.177), camera.Domain.GetEdge(1).PointAt(0.643));
segment2 = new Segment2(chord.PointAt(chordInterval.Min), chord.PointAt(chordInterval.Max));
var spaceExteriorPoint1 = 2.56 * camera.LineOfSight(segment2.Start);
var spaceExteriorPoint2 = 4.86 * camera.LineOfSight(segment2.End);
segment3 = new Segment3(spaceExteriorPoint1, spaceExteriorPoint2);
}
public void Projection_of_point_in_front_of_camera_is_correct()
{
var camera = new CameraModel(focalLength: 3, principalPoint: new Vector2(-1, 2), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
var point = new Vector3(2, 4, 6);
var projection = camera.Project(point);
Expect(projection != null);
Expect(projection.Value.X, Is.EqualTo(0).Within(_tolerance));
Expect(projection.Value.Y, Is.EqualTo(4).Within(_tolerance));
}
public void Projection_of_a_point_on_the_LineOfSight_of_a_given_image_point_equals_to_the_image_point()
{
var camera = new CameraModel(focalLength: 7.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
var imagePoint = new Vector2(0.144, 2.71828);
var spacePoint = 0.577 * camera.LineOfSight(imagePoint);
var roundTrip = camera.Project(spacePoint);
Expect(roundTrip != null);
Expect(Vector2.Distance(roundTrip.Value, imagePoint), Is.LessThan(_tolerance));
}
public void Projection_of_point_with_zero_XY_is_PrincipalPoint()
{
var principalPoint = new Vector2(-3.14, 2.88);
var camera = new CameraModel(focalLength: 7.13, principalPoint: principalPoint, domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
var point = new Vector3(xy: Vector2.Zero, z: 17);
var projection = camera.Project(point);
Expect(projection != null);
Expect(Vector2.Distance(projection.Value, principalPoint), Is.LessThan(_tolerance));
}
public void Projection_of_Segment3_outside_visible_region_is_null()
{
var camera = new CameraModel(focalLength: 7.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
Segment2 chord;
Segment2 segment2;
Segment3 segment3;
PrepareSegmentsForCropVisibleTest(camera, new Interval(1.14, 1.56), out chord, out segment2, out segment3);
var proj = camera.Project(segment3);
Expect(proj == null);
}
public void Projection_of_Segment3_intersecting_2_visibility_boundary_planes_is_correct()
{
var camera = new CameraModel(focalLength: 7.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
Segment2 chord;
Segment2 segment2;
Segment3 segment3;
PrepareSegmentsForCropVisibleTest(camera, new Interval(-0.14, 1.23), out chord, out segment2, out segment3);
var proj = camera.Project(segment3);
Expect(proj != null);
Expect(Vector2.Distance(proj.Value.Start, chord.Start), Is.LessThan(_tolerance));
Expect(Vector2.Distance(proj.Value.End, chord.End), Is.LessThan(_tolerance));
}
public void CropVisible_of_Segment3_inside_visible_region_is_original_Segment3()
{
var camera = new CameraModel(focalLength: 7.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 5, height: 8));
Segment2 chord;
Segment2 segment2;
Segment3 segment3;
PrepareSegmentsForCropVisibleTest(camera, new Interval(0.14, 0.56), out chord, out segment2, out segment3);
var crop = camera.CropVisible(segment3);
Expect(crop != null);
ExpectSegmentsAreCollinear(crop.Value, segment3);
Expect(Vector2.Distance(camera.Project(crop.Value.Start).Value, segment2.Start), Is.LessThan(_tolerance)); // crop.Start projects to correct point
Expect(Vector2.Distance(camera.Project(crop.Value.End).Value, segment2.End), Is.LessThan(_tolerance)); // crop.End projects to correct point
}
public void ProjectTangent_equals_to_differential_of_Project()
{
var eps = 1e-5;
var camera = new CameraModel(focalLength: 1.13, principalPoint: new Vector2(-3.14, 2.88), domain: new Box2(minX: -4, minY: -2, width: 8, height: 7));
var point = new Vector3(0.314, 0.288, 2.56);
var tangent = new Vector3(-1.23, 4.56, -2.35);
var fwdProj = camera.Project(point + eps * tangent / 2);
var bwdProj = camera.Project(point - eps * tangent / 2);
var numResult = (fwdProj - bwdProj) / eps;
var analResult = camera.ProjectTangent(point, tangent);
Expect(analResult != null);
Expect(Vector2.Distance(analResult.Value, numResult.Value), Is.LessThan(1e-10));
}
public YamlSerialization(CameraModel cameraModel)
{
FocalLength = cameraModel.FocalLength;
PrincipalPoint = new Vector2Utils.YamlSerialization(cameraModel.PrincipalPoint);
Domain = new Box2Utils.YamlSerialization(cameraModel.Domain);
}