def test_transform_itb_translated_corner():
pixel_coords = [[-0.25, 0.25], [0.25, 0.25], [-0.25, -0.25], [0.25, -0.25]]
distances = [21.21320344] * 4
fov = [1.0, 1.0, 1.0]
geom = Geometry(fov, pixel_coords, distances)
transformed = [geom.transform_itb(x) for x in pixel_coords]
map_coords = [[0, 0], [10, 0], [0, 10], [10, 10]]
assert_close(map_coords, transformed)
def sample_geom():
return Geometry(fov(), pixel_coords(), distances())
def test_project_corners(image_corners, distances, raw_3d, fov):
mapped = Geometry.project_corners(image_corners, fov, distances)
assert_close(raw_3d, mapped)
def test_compute_normal(raw_3d):
assert_close(np.array([0, 0, -1]), Geometry.compute_normal(raw_3d))
def test_geometry_zero_fov():
with pytest.raises(ValueError):
Geometry.make([0.0, 2.0, 1.0], image_corners, distances)
def test_geometry_neg_fov(image_corners, distances):
with pytest.raises(ValueError):
Geometry.make([-3.0, 2.0, 1.0], image_corners, distances)
def test_geometry_neg_distances(fov, image_corners):
with pytest.raises(ValueError):
Geometry.make(fov, image_corners, [3.0, -4.3, 0.0])
def test_identical_image_corners(fov, distances):
image_corners = [[-0.24, 0.34], [0.1, 0.4], [-0.14, -0.2], [-0.14, -0.2]]
with pytest.raises(ValueError):
Geometry.make(fov, image_corners, distances)
def geom():
return Geometry.from_manifest(manifest())