def test_essential_matrix_inverse(xp):
tform = EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.array([1, 0, 0]),
xp=xp)
src = xp.array([[0, 0], [0, 1], [1, 1]])
assert_array_almost_equal(tform.inverse(src),
xp.array([[0, 1, 0], [0, 1, -1], [0, 1, -1]]))
def test_essential_matrix_residuals(xp):
tform = EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.array([1, 0, 0]),
xp=xp)
src = xp.array([[0, 0], [0, 0], [0, 0]])
dst = xp.array([[2, 0], [2, 1], [2, 2]])
assert_array_almost_equal(
tform.residuals(src, dst)**2, xp.array([0, 0.5, 2]))
def test_essential_matrix_init(xp):
tform = EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.array([0, 0, 1]),
xp=xp)
assert_array_equal(tform.params,
xp.array([0, -1, 0, 1, 0, 0, 0, 0, 0]).reshape(3, 3))
def test_fundamental_matrix_inverse(xp):
essential_matrix_tform = EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.array(
[1, 0, 0]),
xp=xp)
tform = FundamentalMatrixTransform()
tform.params = essential_matrix_tform.params
src = xp.array([[0, 0], [0, 1], [1, 1]])
assert_array_almost_equal(tform.inverse(src),
xp.array([[0, 1, 0], [0, 1, -1], [0, 1, -1]]))
def test_invalid_input(xp):
with pytest.raises(ValueError):
ProjectiveTransform(xp.zeros((2, 3)))
with pytest.raises(ValueError):
AffineTransform(xp.zeros((2, 3)))
with pytest.raises(ValueError):
SimilarityTransform(xp.zeros((2, 3)))
with pytest.raises(ValueError):
EuclideanTransform(xp.zeros((2, 3)))
with pytest.raises(ValueError):
AffineTransform(matrix=xp.zeros((2, 3)), scale=1)
with pytest.raises(ValueError):
SimilarityTransform(matrix=xp.zeros((2, 3)), scale=1)
with pytest.raises(ValueError):
EuclideanTransform(matrix=xp.zeros((2, 3)), translation=(0, 0))
with pytest.raises(ValueError):
PolynomialTransform(xp.zeros((3, 3)))
with pytest.raises(ValueError):
FundamentalMatrixTransform(matrix=xp.zeros((3, 2)))
with pytest.raises(ValueError):
EssentialMatrixTransform(matrix=xp.zeros((3, 2)))
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.zeros((3, 2)))
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.zeros((3, 3)))
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.eye(3))
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.zeros((2, )),
xp=xp)
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.zeros((2, )),
xp=xp)
with pytest.raises(ValueError):
EssentialMatrixTransform(rotation=xp.eye(3),
translation=xp.zeros((3, )),
xp=xp)