def test_align_2d_rotation_set_h_matrix_raises_notimplemented_error():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_h_matrix(rotation.h_matrix)
def test_align_2d_rotation_set_h_matrix_raises_notimplemented_error():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_h_matrix(rotation.h_matrix)
def test_align_2d_rotation_set_rotation_matrix():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_rotation_matrix(rotation.rotation_matrix)
# check the estimates is correct
assert_allclose(target.points, estimate.target.points, atol=1e-14)
def test_align_2d_rotation_set_rotation_matrix():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_rotation_matrix(rotation.rotation_matrix)
# check the estimates is correct
assert_allclose(target.points, estimate.target.points, atol=1e-14)
def test_align_2d_rotation_allow_mirror():
s_init = PointCloud(np.array([[-1.0, 1.0], [1.0, 1.0], [1.0, -1.0], [-1.0, -1.0]]))
s_trg = PointCloud(np.array([[1.0, -1.0], [1.0, 1.0], [-1.0, 1.0], [-1.0, -1.0]]))
# estimate the transform from source and target with mirroring allowed
tr = AlignmentRotation(s_init, s_trg, allow_mirror=True)
s_final = tr.apply(s_init)
assert_allclose(s_final.points, s_trg.points, atol=1e-14)
# estimate the transform from source and target with mirroring allowed
tr = AlignmentRotation(s_init, s_trg, allow_mirror=False)
s_final = tr.apply(s_init)
assert_allclose(s_final.points, np.array([[-1.0, -1.0], [-1.0, 1.0], [1.0, 1.0], [1.0, -1.0]]), atol=1e-14)
def test_homog_compose_after_alignment_rotation():
homog = Homogeneous(np.array([[0, 1, 0],
[1, 0, 0],
[0, 0, 1]]))
source = PointCloud(np.array([[0, 1],
[1, 1],
[-1, -5],
[3, -5]]))
r = AlignmentRotation(source, source)
res = homog.compose_after(r)
assert(type(res) == Homogeneous)
def test_align_2d_rotation_allow_mirror():
s_init = PointCloud(np.array([[-1., 1.], [1., 1.], [1., -1.], [-1., -1.]]))
s_trg = PointCloud(np.array([[1., -1.], [1., 1.], [-1., 1.], [-1., -1.]]))
# estimate the transform from source and target with mirroring allowed
tr = AlignmentRotation(s_init, s_trg, allow_mirror=True)
s_final = tr.apply(s_init)
assert_allclose(s_final.points, s_trg.points, atol=1e-14)
# estimate the transform from source and target with mirroring allowed
tr = AlignmentRotation(s_init, s_trg, allow_mirror=False)
s_final = tr.apply(s_init)
assert_allclose(s_final.points, np.array([[-1., -1.], [-1., 1.], [1., 1.],
[1., -1.]]), atol=1e-14)
def rotation_alignment_angle_ccw(pts1, pts2):
t = AlignmentRotation(
Translation(-pts1.centre()).apply(pts1),
Translation(-pts2.centre()).apply(pts2))
return 360 - math.degrees(t.axis_and_angle_of_rotation()[-1])
