use k instead of kc and improve projects_in

calib3d/calib.py

@@ -2,6 +2,7 @@
 import numpy as np
 import cv2
 from .points import Point2D, Point3D, HomogeneousCoordinatesPoint
+import warnings
 
 __doc__ = r"""
 
@@ -164,6 +165,9 @@ def __init__(self, *, width: int, height: int, T: np.ndarray, R: np.ndarray, K:
             K (np.ndarray): camera matrix holding intrinsic parameters
             k (np.ndarray, optional): lens distortion coefficients. Defaults to None.
         """
+        if 'kc' in _:
+            warnings.warn("The 'kc' argument is deprecated. Use 'k' instead.", Warning)
+            k = _['kc']
         self.w = self.width = int(width)
         self.h = self.height = int(height)
         self.T = T
@@ -400,7 +404,7 @@ def projects_in(self, point3D: Point3D) -> np.ndarray:
             Returns `True` where for points that projects in the image and `False` otherwise.
         """
         point2D = self.project_3D_to_2D(point3D)
-        cond = np.stack((point2D.x >= 0, point2D.y >= 0, point2D.x <= self.width-1, point2D.y <= self.height-1, ~self.is_behind(point3D)))
+        cond = (point2D.x >= 0, point2D.y >= 0, point2D.x <= self.width-1, point2D.y <= self.height-1, np.squeeze(~self.is_behind(point3D)))
         return np.all(cond, axis=0)
 
     def dist_to_border(self, point3D: Point3D) -> np.ndarray:

tests/test_calib.py

@@ -10,7 +10,7 @@
 T = np.array([[-2360.16 ],
               [ -123.465],
               [ 2793.1  ]])
-kc = np.array([-0.00865297, -0.0148287, -0.00078693, 0.00025515, 0.])
+k = np.array([-0.00865297, -0.0148287, -0.00078693, 0.00025515, 0.])
 width = 1936
 height = 1458
 
@@ -68,7 +68,7 @@ def test_constructorlist():
     assert np.all(points == Point3D([1,2,3,4,5], [2,3,4,5,6], [3,4,5,6,7]))
 
 def test_calib():
-    calib = Calib(K=K, R=R, kc=kc, T=T, width=width, height=height)
+    calib = Calib(K=K, R=R, k=k, T=T, width=width, height=height)
     assert calib
 
     assert np.all(calib.P - np.array([[ 2.928916572117e+03, 5.164948427700e+01, 3.569704477840e+02, -3.809875516500e+06],
@@ -86,7 +86,7 @@ def test_calib():
                                       [-1180.57158572]]) < EPS)
 
 def test_projection():
-    calib = Calib(K=K, R=R, kc=kc, T=T, width=width, height=height)
+    calib = Calib(K=K, R=R, k=k, T=T, width=width, height=height)
 
     # Single point
     point3D = Point3D(1400,750,0)
@@ -101,14 +101,14 @@ def test_projection():
     assert np.all(calib.project_2D_to_3D(points2D, Z=0) - points3D < 1.0e-2) # 0.01 cm error reprojection on image border
 
 def test_compute_length():
-    calib = Calib(K=K, R=R, kc=kc, T=T, width=width, height=height)
+    calib = Calib(K=K, R=R, k=k, T=T, width=width, height=height)
     point3D = Point3D(1400,750,0)
     margin3D = 100 #cm
     margin2D = calib.compute_length2D(point3D, margin3D)
     assert len(margin2D.shape) == 1
     assert margin2D[0] - 107.87859964 < EPS
 
 def test_project_X():
-    calib = Calib(K=K, R=R, kc=kc, T=T, width=width, height=height)
+    calib = Calib(K=K, R=R, k=k, T=T, width=width, height=height)
     point3D = Point3D(1400,750,0)
     assert np.all(calib.project_2D_to_3D(calib.project_3D_to_2D(point3D), X=1400) - point3D) < EPS