This repository has been archived by the owner on Dec 3, 2022. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 4
/
test_triangulation.py
233 lines (195 loc) · 11.4 KB
/
test_triangulation.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
"""
Pedestrian Tracking
2018
POVa - Computer Vision
FIT - Faculty of Information Technology
BUT - Brno University of Technology
"""
from unittest import TestCase
import cv2
import numpy as np
import openpose
from camera import Camera
from config import FOCAL_LENGTH_CAMERA_M, FOCAL_LENGTH_CAMERA_F, AVERAGE_PERSON_WAIST_TO_NECK_LENGTH
from triangulation import CameraDistanceTriangulation, PersonView, PersonTimeFrame
class TestCameraDistanceTriangulation(TestCase):
def test_intersect_planes(self):
"""
https://stackoverflow.com/questions/48126838/plane-plane-intersection-in-python
"""
a = (1, -1, 0, 2)
b = (-1, -1, 1, 3)
point, vector = CameraDistanceTriangulation.intersect_planes(a, b)
point_forward = point + vector
a_normal = np.array(a[:3])
b_normal = np.array(b[:3])
self.assertEqual(np.dot(point, a_normal), np.dot(point_forward, a_normal))
self.assertEqual(np.dot(point, b_normal), np.dot(point_forward, b_normal))
class TestCameraDistanceTriangulationScene1Duck(TestCase):
"""
Test triangulation based on distance from camera in scene1 (duck).
"""
def setUp(self) -> None:
super().setUp()
focal_length = 687 # see Camera.calibrate_focal_length
self.real_size = 50
camera_front = Camera('front camera', focal_length, (50, 450, 30), (0, -1, 0))
camera_side = Camera('side camera', focal_length, (400, 400, 30), (-1, -1, 0))
# reference = PersonView(cv2.imread('testing_data/s1_front_d150_h50.jpg'), camera_front, (379, 70), (379, 299))
image_front = cv2.imread('testing_data/s1_front_d400.jpg')
self.front = PersonView(image_front, image_front, camera_front, (383, 95), (383, 11))
image_side = cv2.imread('testing_data/s1_side_d500.jpg')
self.side = PersonView(image_side, image_side, camera_side, (77, 86), (77, 18))
self.person_time_frame = PersonTimeFrame([self.front, self.side])
self.person_time_frame.real_subject_coordinates_3d = (50, 50, 30)
# person = Person([person_time_frame])
def test_locate(self):
triangulation = CameraDistanceTriangulation(self.real_size, 30)
located = triangulation.locate(self.person_time_frame)
# plot_person_time_frame(located) # for debugging
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=10)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=10)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=10)
def test_distance_from_camera(self):
# plot_person_time_frame(self.person_time_frame) # for debugging
triangulation = CameraDistanceTriangulation(self.real_size, 30)
self.assertAlmostEqual(triangulation.distance_from_camera(self.front), 400, delta=10)
self.assertAlmostEqual(triangulation.distance_from_camera(self.side), 500, delta=10)
class TestCameraDistanceTriangulationSceneLibrary(TestCase):
"""
Test triangulation based on distance from camera in scene Library.
"""
def setUp(self) -> None:
super().setUp()
self.real_size = AVERAGE_PERSON_WAIST_TO_NECK_LENGTH # cm
z_level = 146
self.camera_m = Camera(
name='m (front camera)',
focal_length=FOCAL_LENGTH_CAMERA_M,
position=(0, 0, z_level),
orientation=(0, 1, 0)
)
self.camera_f = Camera(
name='f (front camera)',
focal_length=FOCAL_LENGTH_CAMERA_F,
position=(0, 0, z_level),
orientation=(0, 1, 0)
)
self.person_detector = openpose.PovaPose.PovaPose(
prototxt_path="openpose/pose/coco/pose_deploy_linevec.prototxt",
caffemodel_path="openpose/pose/coco/pose_iter_440000.caffemodel"
)
self.triangulation = CameraDistanceTriangulation(self.real_size, z_location=z_level)
def test_distance_from_camera(self):
def assert_distance(camera, image_path, distance, delta):
image = cv2.imread(image_path)
self.person_detector.set_image_for_detection(image)
people = self.person_detector.run_multi_person_detection()
self.assertEqual(len(people), 1, "Detected incorrect number of people.")
person = people[0]
view = PersonView(image, image, camera, (person[1][1], person[1][0]), (person[2][1], person[2][0]))
self.assertAlmostEqual(self.triangulation.distance_from_camera(view), distance, delta=delta)
assert_distance(self.camera_f, 'testing_data/s2_f_x0y300.png', 300, 15)
assert_distance(self.camera_f, 'testing_data/s2_f_x0y600.png', 600, 15)
assert_distance(self.camera_f, 'testing_data/s2_m_x0y300.png', 300, 15)
assert_distance(self.camera_f, 'testing_data/s2_m_x0y600.png', 600, 15)
class TestCameraDistanceTriangulationSceneCorridor(TestCase):
"""
Test triangulation based on distance from camera in scene Corridor.
"""
def setUp(self) -> None:
super().setUp()
self.real_size = AVERAGE_PERSON_WAIST_TO_NECK_LENGTH # cm
self.camera_m = Camera(
name='m (front camera)',
focal_length=FOCAL_LENGTH_CAMERA_M,
position=(0, 0, 147),
orientation=(0, 1, 0)
)
self.camera_f = Camera(
name='f (side camera)',
focal_length=FOCAL_LENGTH_CAMERA_F,
position=(-200, 0, 147),
orientation=(1, 1, 0)
)
self.person_detector = openpose.PovaPose.PovaPose(
prototxt_path="openpose/pose/coco/pose_deploy_linevec.prototxt",
caffemodel_path="openpose/pose/coco/pose_iter_440000.caffemodel"
)
self.triangulation = CameraDistanceTriangulation(self.real_size, z_location=147)
def test_distance_from_camera(self):
def assert_distance(camera, image_path, distance, delta):
image = cv2.imread(image_path)
self.person_detector.set_image_for_detection(image)
people = self.person_detector.run_multi_person_detection()
self.assertEqual(len(people), 1, "Detected incorrect number of people.")
person = people[0]
view = PersonView(image, image, camera, (person[1][1], person[1][0]), (person[2][1], person[2][0]))
self.assertAlmostEqual(self.triangulation.distance_from_camera(view), distance, delta=delta)
assert_distance(self.camera_m, 'testing_data/s3_m_front_single_x0y300.png', 300, 20)
assert_distance(self.camera_m, 'testing_data/s3_m_front_single_x50y600.png', 600, 20)
def create_person_view(self, camera, image_path):
image_front = cv2.imread(image_path)
self.person_detector.set_image_for_detection(image_front)
people = self.person_detector.run_multi_person_detection()
self.assertEqual(len(people), 1, "Detected incorrect number of people.")
person = people[0]
return PersonView(image_front, image_front, camera, (person[1][1], person[1][0]), (person[2][1], person[2][0]))
def test_locate(self):
max_delta = 35
# distance 300
front_view = self.create_person_view(self.camera_m, 'testing_data/s3_m_front_single_x0y300.png')
side_view = self.create_person_view(self.camera_f, 'testing_data/s3_f_side_single_x0y300.png')
person_time_frame = PersonTimeFrame([front_view, side_view])
person_time_frame.real_subject_coordinates_3d = (0, 300, 147)
located = self.triangulation.locate(person_time_frame)
# plot_person_time_frame(located) # for debugging
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=max_delta)
# distance 600
front_view = self.create_person_view(self.camera_m, 'testing_data/s3_m_front_single_x50y600.png')
side_view = self.create_person_view(self.camera_f, 'testing_data/s3_f_side_single_x50y600.png')
person_time_frame = PersonTimeFrame([front_view, side_view])
person_time_frame.real_subject_coordinates_3d = (0, 600, 147)
located = self.triangulation.locate(person_time_frame)
# plot_person_time_frame(located) # for debugging
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=max_delta)
def test_locate_single_30(self):
max_delta = 35
front_view = self.create_person_view(self.camera_m, 'testing_data/s3_single_30_front.png')
side_view = self.create_person_view(self.camera_f, 'testing_data/s3_single_30_side.png')
person_time_frame = PersonTimeFrame([front_view, side_view])
person_time_frame.real_subject_coordinates_3d = (160, 600, 147)
located = self.triangulation.locate(person_time_frame)
# plot_person_time_frame(located) # for debugging
print(located.coordinates_3d)
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=max_delta)
def test_locate_single_49(self):
max_delta = 35
front_view = self.create_person_view(self.camera_m, 'testing_data/s3_single_49_front.png')
side_view = self.create_person_view(self.camera_f, 'testing_data/s3_single_49_side.png')
person_time_frame = PersonTimeFrame([front_view, side_view])
person_time_frame.real_subject_coordinates_3d = (50, 500, 147)
located = self.triangulation.locate(person_time_frame)
# plot_person_time_frame(located) # for debugging
print(located.coordinates_3d)
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=max_delta)
def test_locate_single_51(self):
max_delta = 35
front_view = self.create_person_view(self.camera_m, 'testing_data/s3_single_51_front.png')
side_view = self.create_person_view(self.camera_f, 'testing_data/s3_single_51_side.png')
person_time_frame = PersonTimeFrame([front_view, side_view])
person_time_frame.real_subject_coordinates_3d = (50, 300, 147)
located = self.triangulation.locate(person_time_frame)
# plot_person_time_frame(located) # for debugging
print(located.coordinates_3d)
self.assertAlmostEqual(located.coordinates_3d[0], located.real_subject_coordinates_3d[0], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[1], located.real_subject_coordinates_3d[1], delta=max_delta)
self.assertAlmostEqual(located.coordinates_3d[2], located.real_subject_coordinates_3d[2], delta=max_delta)