wehub-resource-sync
52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
from __future__ import annotations
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import itertools
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from typing import TYPE_CHECKING
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import numpy as np
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import rerun as rr
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from rerun.components import PinholeProjectionBatch, ResolutionBatch, ViewCoordinatesBatch
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if TYPE_CHECKING:
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from rerun.datatypes import Mat3x3Like, Vec2DLike, ViewCoordinatesLike
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def test_pinhole() -> None:
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image_from_cameras: list[Mat3x3Like] = [
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[[1, 2, 3], [4, 5, 6], [7, 8, 9]],
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[1, 2, 3, 4, 5, 6, 7, 8, 9],
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np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]]),
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]
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resolutions: list[Vec2DLike] = [[1, 2], (1, 2), np.array([1, 2])]
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camera_xyzs: list[ViewCoordinatesLike | None] = [
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None,
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rr.archetypes.ViewCoordinates.RDF,
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rr.components.ViewCoordinates.RDF,
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[3, 2, 5],
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]
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all_arrays = itertools.zip_longest(image_from_cameras, resolutions, camera_xyzs)
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for image_from_camera, resolution, camera_xyz in all_arrays:
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image_from_camera = image_from_camera if image_from_camera is not None else image_from_cameras[-1]
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print(
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f"rr.Pinhole(\n"
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f" image_from_camera={image_from_camera!s}\n"
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f" resolution={resolution!s}\n"
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f" camera_xyz={camera_xyz!s}\n"
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f")",
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)
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arch = rr.Pinhole(image_from_camera=image_from_camera, resolution=resolution, camera_xyz=camera_xyz)
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print(f"{arch}\n")
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assert arch.image_from_camera == PinholeProjectionBatch._converter([1, 2, 3, 4, 5, 6, 7, 8, 9])
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assert arch.resolution == ResolutionBatch._converter([1, 2] if resolution is not None else None)
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assert arch.camera_xyz == ViewCoordinatesBatch._converter(
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rr.components.ViewCoordinates.RDF if camera_xyz is not None else None,
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)
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if __name__ == "__main__":
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test_pinhole()
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