def test_fit_matched_points():
"""Test fit_matched_points: fitting two matching sets of points"""
tgt_pts = np.random.uniform(size=(6, 3))
# rotation only
trans = rotation(2, 6, 3)
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, translate=False, out="trans")
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(tgt_pts, est_pts, 2, "fit_matched_points with " "rotation")
# rotation & scaling
trans = np.dot(rotation(2, 6, 3), scaling(0.5, 0.5, 0.5))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, translate=False, scale=1, out="trans")
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(tgt_pts, est_pts, 2, "fit_matched_points with " "rotation and scaling.")
# rotation & translation
trans = np.dot(translation(2, -6, 3), rotation(2, 6, 3))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, out="trans")
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(tgt_pts, est_pts, 2, "fit_matched_points with " "rotation and translation.")
# rotation & translation & scaling
trans = reduce(np.dot, (translation(2, -6, 3), rotation(1.5, 0.3, 1.4), scaling(0.5, 0.5, 0.5)))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, scale=1, out="trans")
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(tgt_pts, est_pts, 2, "fit_matched_points with " "rotation, translation and scaling.")
# test exceeding tolerance
tgt_pts[0, :] += 20
assert_raises(RuntimeError, fit_matched_points, tgt_pts, src_pts, tol=10)
def test_fit_point_cloud():
"""Test fit_point_cloud: fitting a set of points to a point cloud"""
# evenly spaced target points on a sphere
u = np.linspace(0, np.pi, 150)
v = np.linspace(0, np.pi, 150)
x = np.outer(np.cos(u), np.sin(v)).reshape((-1, 1))
y = np.outer(np.sin(u), np.sin(v)).reshape((-1, 1))
z = np.outer(np.ones(np.size(u)), np.cos(v)).reshape((-1, 1)) * 3
tgt_pts = np.hstack((x, y, z))
tgt_pts = _decimate_points(tgt_pts, .05)
# pick some points to fit
some_tgt_pts = tgt_pts[::362]
# rotation only
trans = rotation(1.5, .3, -0.4)
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=0, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation.")
# rotation and translation
trans = np.dot(rotation(0.5, .3, -0.4), translation(.3, .2, -.2))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=True,
scale=0, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and "
"translation.")
# rotation and 1 scale parameter
trans = np.dot(rotation(0.5, .3, -0.4), scaling(1.5, 1.5, 1.5))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=1, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and 1 scaling "
"parameter.")
# rotation and 3 scale parameter
trans = np.dot(rotation(0.5, .3, -0.4), scaling(1.5, 1.7, 1.1))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=3, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and 3 scaling "
"parameters.")
def test_fit_point_cloud():
"""Test fit_point_cloud: fitting a set of points to a point cloud"""
# evenly spaced target points on a sphere
u = np.linspace(0, np.pi, 150)
v = np.linspace(0, np.pi, 150)
x = np.outer(np.cos(u), np.sin(v)).reshape((-1, 1))
y = np.outer(np.sin(u), np.sin(v)).reshape((-1, 1))
z = np.outer(np.ones(np.size(u)), np.cos(v)).reshape((-1, 1)) * 3
tgt_pts = np.hstack((x, y, z))
tgt_pts = _decimate_points(tgt_pts, .05)
# pick some points to fit
some_tgt_pts = tgt_pts[::362]
# rotation only
trans = rotation(1.5, .3, -0.4)
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=0, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation.")
# rotation and translation
trans = np.dot(rotation(0.5, .3, -0.4), translation(.3, .2, -.2))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=True,
scale=0, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and "
"translation.")
# rotation and 1 scale parameter
trans = np.dot(rotation(0.5, .3, -0.4), scaling(1.5, 1.5, 1.5))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=1, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and 1 scaling "
"parameter.")
# rotation and 3 scale parameter
trans = np.dot(rotation(0.5, .3, -0.4), scaling(1.5, 1.7, 1.1))
src_pts = apply_trans(trans, some_tgt_pts)
trans_est = fit_point_cloud(src_pts, tgt_pts, rotate=True, translate=False,
scale=3, out='trans')
est_pts = apply_trans(trans_est, src_pts)
err = _point_cloud_error(est_pts, tgt_pts)
assert_array_less(err, .1, "fit_point_cloud with rotation and 3 scaling "
"parameters.")
def test_fit_matched_points():
"""Test fit_matched_points: fitting two matching sets of points"""
tgt_pts = np.random.uniform(size=(6, 3))
# rotation only
trans = rotation(2, 6, 3)
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts,
tgt_pts,
translate=False,
out='trans')
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(tgt_pts, est_pts, 2, "fit_matched_points with "
"rotation")
# rotation & scaling
trans = np.dot(rotation(2, 6, 3), scaling(.5, .5, .5))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts,
tgt_pts,
translate=False,
scale=1,
out='trans')
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(
tgt_pts, est_pts, 2, "fit_matched_points with "
"rotation and scaling.")
# rotation & translation
trans = np.dot(translation(2, -6, 3), rotation(2, 6, 3))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, out='trans')
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(
tgt_pts, est_pts, 2, "fit_matched_points with "
"rotation and translation.")
# rotation & translation & scaling
trans = reduce(
np.dot,
(translation(2, -6, 3), rotation(1.5, .3, 1.4), scaling(.5, .5, .5)))
src_pts = apply_trans(trans, tgt_pts)
trans_est = fit_matched_points(src_pts, tgt_pts, scale=1, out='trans')
est_pts = apply_trans(trans_est, src_pts)
assert_array_almost_equal(
tgt_pts, est_pts, 2, "fit_matched_points with "
"rotation, translation and scaling.")
# test exceeding tolerance
tgt_pts[0, :] += 20
assert_raises(RuntimeError, fit_matched_points, tgt_pts, src_pts, tol=10)