def test_perfect_rigid():
X = loadPoints(Path("tests/fixtures/ref.txt"))
P, xform = last(islice(driftRigid(X, X), 100))
np.testing.assert_almost_equal(xform.R, np.eye(2))
np.testing.assert_almost_equal(xform.t, np.zeros(2))
np.testing.assert_almost_equal(xform.s, 1)
def test_perfect_rigid():
X = loadPoints(Path("tests/fixtures/ref.txt"))
P, xform = last(islice(driftRigid(X, X), 100))
np.testing.assert_almost_equal(xform.R, np.eye(2))
np.testing.assert_almost_equal(xform.t, np.zeros(2))
np.testing.assert_almost_equal(xform.s, 1)
def test_affine():
X = loadPoints(Path("tests/fixtures/ref.txt"))
Y = loadPoints(Path("tests/fixtures/deg.txt"))
expected = loadXform(Path("tests/fixtures/affine.pickle"))
P, xform = last(islice(driftAffine(X, Y, w=0.5), 100))
np.testing.assert_almost_equal(xform.B, expected.B)
np.testing.assert_almost_equal(xform.t, expected.t)
def test_affine():
X = loadPoints(Path("tests/fixtures/ref.txt"))
Y = loadPoints(Path("tests/fixtures/deg.txt"))
expected = loadXform(Path("tests/fixtures/affine.pickle"))
P, xform = last(islice(driftAffine(X, Y, w=0.5), 100))
np.testing.assert_almost_equal(xform.B, expected.B)
np.testing.assert_almost_equal(xform.t, expected.t)
def test_cpd_prior():
from coherent_point_drift.align import driftRigid
rng = np.random.RandomState(4)
ndim = 3
R = rotationMatrix(*next(randomRotations(ndim, rng)))
t = rng.normal(size=ndim)
s = rng.normal(size=1)[0]
X = rng.normal(size=(10, ndim))
Y = RigidXform(R, t, s) @ X
_, cpd = last(islice(driftRigid(X, Y, w=np.eye(len(X))), 200))
ls = align(X, Y)
np.testing.assert_almost_equal(cpd.R, ls.R)
np.testing.assert_almost_equal(cpd.t, ls.t)
np.testing.assert_almost_equal(cpd.s, ls.s)
def test_cpd_prior():
from coherent_point_drift.align import driftRigid
rng = np.random.RandomState(4)
ndim = 3
R = rotationMatrix(*next(randomRotations(ndim, rng)))
t = rng.normal(size=ndim)
s = rng.normal(size=1)[0]
X = rng.normal(size=(10, ndim))
Y = RigidXform(R, t, s) @ X
_, cpd = last(islice(driftRigid(X, Y, w=np.eye(len(X))), 200))
ls = align(X, Y)
np.testing.assert_almost_equal(cpd.R, ls.R)
np.testing.assert_almost_equal(cpd.t, ls.t)
np.testing.assert_almost_equal(cpd.s, ls.s)
def plot(args):
from pickle import load
from sys import stdin
import matplotlib.pyplot as plt
from itertools import starmap
from numpy.random import seed, random
from coherent_point_drift.geometry import rigidXform, RMSD
from coherent_point_drift.util import last
from math import degrees
seed(4)
reference = load(stdin.buffer)
rmsds = []
rotations = []
for degradation, (fit, rmsd) in loadAll(stdin.buffer):
rmsds.append(rmsd)
rotations.append(degrees(degradation[0][0]))
plt.figure(0)
plt.plot(rmsd, alpha=0.3)
plt.figure(1)
color = random(3)
degraded = degrade(reference, *degradation)
plt.scatter(degraded[:, 0], degraded[:, 1], marker='o', color=color, alpha=0.2)
fitted = rigidXform(degraded, *last(fit))
plt.scatter(fitted[:, 0], fitted[:, 1], marker='+', color=color, alpha=0.4)
plt.scatter(reference[:, 0], reference[:, 1], marker='v', color='black')
min_rmsds= map(min, rmsds)
rotation_rmsds = sorted(zip(rotations, min_rmsds), key=lambda x: x[0])
plt.figure(2)
plt.plot(*zip(*rotation_rmsds))
plt.show()