def test_get_exact_match():
t = np.eye(4)
tm = m.TransformManager()
tm.add("model2world", t)
r = tm.get("model2world")
assert np.allclose(t, r, test_manager_matrix_tolerance)
with pytest.raises(ValueError):
r = tm.get("hand2eye")
def test_get_inverse_match():
t = np.eye(4)
t[0][3] = 1
t[1][3] = 2
t[2][3] = 3
tm = m.TransformManager()
tm.add("model2world", t)
r = tm.get("world2model")
assert np.allclose(t, np.linalg.inv(r), test_manager_matrix_tolerance)
def test_add_remove_valid():
tm = m.TransformManager()
tm.add("model2world", np.eye(4))
tm.add("camera2world", np.eye(4))
assert tm.exists("model2world")
assert tm.exists("camera2world")
assert tm.count() == 4 # as we also store inverse
tm.remove("model2world")
assert tm.count() == 2 # as we also store inverse
tm.repository.pop("camera") # Hack, as member vars aren't private.
assert tm.count() == 1
with pytest.raises(ValueError):
tm.remove("camera2world")
def test_get_2_step_path():
a2b = np.eye(4)
a2b[0][3] = 1
a2b[1][3] = 2
a2b[2][3] = 3
b2c = np.eye(4)
b2c[0][3] = 1
b2c[1][3] = 2
b2c[2][3] = 3
tm = m.TransformManager()
tm.add("a2b", a2b)
tm.add("b2c", b2c)
r = tm.get("a2c")
assert np.allclose(np.matmul(b2c, a2b), r, test_manager_matrix_tolerance)
def test_get_2_step_path_with_inverse():
a2b = np.eye(4)
a2b[0][3] = 1
a2b[1][3] = 2
a2b[2][3] = 3
c2b = np.eye(4)
c2b[0][3] = 1
c2b[1][3] = 2
c2b[2][3] = 3
tm = m.TransformManager()
tm.add("a2b", a2b)
tm.add("c2b", c2b)
r = tm.get("a2c")
assert np.allclose(np.matmul(np.linalg.inv(c2b), a2b), r, test_manager_matrix_tolerance)
def test_get_path_with_y_shape():
a2b = create_test_matrix(1)
b2c = create_test_matrix(2)
d2e = create_test_matrix(3)
e2c = create_test_matrix(4)
c2f = create_test_matrix(5)
f2g = create_test_matrix(6)
tm = m.TransformManager()
tm.add("a2b", a2b)
tm.add("b2c", b2c)
tm.add("d2e", d2e)
tm.add("e2c", e2c)
tm.add("c2f", c2f)
tm.add("f2g", f2g)
r = tm.get("d2g")
assert np.allclose(
np.matmul(np.matmul(c2f, np.matmul(e2c, d2e)), f2g), r, test_manager_matrix_tolerance)
def test_get_path_with_multiple_path():
a2b = create_test_matrix(1)
b2c = create_test_matrix(2)
c2d = create_test_matrix(3)
a2e = create_test_matrix(3)
e2f = create_test_matrix(2)
f2d = create_test_matrix(1)
tm = m.TransformManager()
tm.add("a2b", a2b)
tm.add("b2c", b2c)
tm.add("c2d", c2d)
tm.add("a2e", a2e)
tm.add("e2f", e2f)
tm.add("f2d", f2d)
r = tm.get("a2d")
assert np.allclose(
np.matmul(c2d, np.matmul(b2c, a2b)), r, test_manager_matrix_tolerance)
def test_get_path_with_diversions():
a2b = create_test_matrix(1)
b2c = create_test_matrix(2)
c2d = create_test_matrix(3)
b2e = create_test_matrix(4)
e2f = create_test_matrix(5)
b2g = create_test_matrix(6)
tm = m.TransformManager()
tm.add("a2b", a2b)
tm.add("b2c", b2c)
tm.add("c2d", c2d)
tm.add("b2e", b2e)
tm.add("e2f", e2f)
tm.add("b2g", b2g)
r = tm.get("a2f")
assert np.allclose(
np.matmul(e2f, np.matmul(b2e, a2b)), r, test_manager_matrix_tolerance)
def test_multiply_point():
t = np.eye(4)
t[0][3] = 1
t[1][3] = 2
t[2][3] = 3
model_point = np.ones((4, 1))
expected_world_point = np.ones((4, 1))
expected_world_point[0][0] = 2
expected_world_point[1][0] = 3
expected_world_point[2][0] = 4
expected_world_point[3][0] = 1
tm = m.TransformManager()
tm.add("model2world", t)
with pytest.raises(ValueError):
tm.multiply_point("a2b", model_point)
world_point = tm.multiply_point("model2world", model_point)
assert np.allclose(expected_world_point, world_point, test_manager_matrix_tolerance)
def test_remove_invalid_name():
with pytest.raises(ValueError):
tm = m.TransformManager()
tm.remove("banana")
def test_add_invalid_size():
with pytest.raises(ValueError):
tm = m.TransformManager()
tm.add("model2world", np.eye(5))
def test_add_invalid_transform():
with pytest.raises(TypeError):
tm = m.TransformManager()
tm.add("model2world", None)
def test_add_invalid_name():
with pytest.raises(ValueError):
tm = m.TransformManager()
tm.add("banana", None)
def test_remove_non_existing_name():
with pytest.raises(ValueError):
tm = m.TransformManager()
tm.remove("model2world")