def test_align_2d_translation_set_h_matrix_raises_notimplemented_error(): t_vec = np.array([1, 2]) translation = Translation(t_vec) source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]])) target = translation.apply(source) # estimate the transform from source to source.. estimate = AlignmentTranslation(source, source) # and change the target. estimate.set_h_matrix(translation.h_matrix)
def test_align_2d_translation_from_vector_inplace(): t_vec = np.array([1, 2]) translation = Translation(t_vec) source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]])) target = translation.apply(source) # estimate the transform from source to source.. estimate = AlignmentTranslation(source, source) # and update from_vector estimate._from_vector_inplace(t_vec) # check the estimates is correct assert_allclose(target.points, estimate.target.points)
def test_align_2d_translation_set_target(): t_vec = np.array([1, 2]) translation = Translation(t_vec) source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]])) target = translation.apply(source) # estimate the transform from source to source.. estimate = AlignmentTranslation(source, source) # and change the target. estimate.set_target(target) # check the estimates is correct assert_allclose(translation.h_matrix, estimate.h_matrix)
def test_align_2d_translation_from_vector_inplace(): t_vec = np.array([1, 2]) translation = Translation(t_vec) source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]])) target = translation.apply(source) # estimate the transform from source to source.. estimate = AlignmentTranslation(source, source) # and update from_vector estimate.from_vector_inplace(t_vec) # check the estimates is correct assert_allclose(target.points, estimate.target.points)
def test_align_2d_translation_from_vector(): t_vec = np.array([1, 2]) translation = Translation(t_vec) source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]])) target = translation.apply(source) # estimate the transform from source to source.. estimate = AlignmentTranslation(source, source) # and update from_vector new_est = estimate.from_vector(t_vec) # check the original is unchanged assert_allclose(estimate.source.points, source.points) assert_allclose(estimate.target.points, source.points) # check the new estimate has the source and target correct assert_allclose(new_est.source.points, source.points) assert_allclose(new_est.target.points, target.points)