test_camera_model.py 文件源码

def test_project(self):
        # Load points
        points_file = join(test.TEST_DATA_PATH, "house/house.p3d")
        points = np.loadtxt(points_file).T

        # Setup camera
        K = np.eye(3)
        R = np.eye(3)
        t = np.array([0, 0, 0])
        camera = PinholeCameraModel(320, 240, K)
        x = camera.project(points, R, t)

        # Assert
        self.assertEqual(x.shape, (3, points.shape[1]))
        self.assertTrue(np.all(x[2, :] == 1.0))

        # Plot projection
        debug = False
        # debug = True
        if debug:
            plt.figure()
            plt.plot(x[0], x[1], 'k. ')
            plt.show()