def test_fitting_identity_list(self):
listA = [[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 2]]
listB = [[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 2]]
expectedError = 0
expectedTransformation = np.asmatrix(np.eye(4, 4))
transformation, err = psf.pointSetFitting(listA, listB)
np.testing.assert_array_almost_equal(expectedTransformation,
transformation,
decimal=5)
self.assertAlmostEqual(expectedError, err, delta=0.0001)
def test_fitting_identity(self):
setA = np.mat('0 0 0; 1 0 0; 0 1 0; 0 0 2').transpose()
setB = np.mat('0 0 0; 1 0 0; 0 1 0; 0 0 2').transpose()
expectedError = 0
expectedTransformation = np.asmatrix(np.eye(4, 4))
transformation, err = psf.pointSetFitting(setA, setB)
np.testing.assert_array_almost_equal(expectedTransformation,
transformation,
decimal=5)
self.assertAlmostEqual(expectedError, err, delta=0.0001)
def test_fitting_translation(self):
setA = np.mat('0 0 0; 1 0 0; 0 1 0; 0 0 2').transpose()
expectedTransformation = compose([10, 2, 5], np.eye(3, 3), np.ones(3))
setB = expectedTransformation * psf.toHomogeneous(setA)
expectedError = 0
transformation, err = psf.pointSetFitting(setA, setB[0:3, :])
np.testing.assert_array_almost_equal(expectedTransformation,
transformation,
decimal=5)
self.assertAlmostEqual(expectedError, err, delta=0.0001)
def test_fitting_identity_arrinput(self):
setA = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0,
2]]).transpose()
setB = np.array([[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0,
2]]).transpose()
expectedError = 0
expectedTransformation = np.asmatrix(np.eye(4, 4))
transformation, err = psf.pointSetFitting(setA, setB)
np.testing.assert_array_almost_equal(expectedTransformation,
transformation,
decimal=5)
self.assertAlmostEqual(expectedError, err, delta=0.0001)
def test_fitting_noisefree_10P(self):
for k in xrange(1000):
setA = np.asmatrix(np.random.rand(3, 10))
trans = np.random.rand(1, 3)
expTr = compose(
trans[0, :],
euler2mat(np.random.rand(), np.random.rand(),
np.random.rand()), np.ones(3))
setB = expTr * psf.toHomogeneous(setA)
expError = 0
transformation, err = psf.pointSetFitting(setA, setB[0:3, :])
np.testing.assert_array_almost_equal(expTr,
transformation,
decimal=5)
self.assertAlmostEqual(expError, err, delta=0.0001)
def test_fitting_vector_dimension(self):
with self.assertRaises(Exception):
listA = [[0, 0], [1, 0], [0, 1]]
listB = [[0, 0], [1, 0], [0, 1]]
psf.pointSetFitting(listA, listB)
def test_fitting_too_few_points(self):
with self.assertRaises(Exception):
listA = [[0, 0, 0], [1, 0, 0]]
listB = [[0, 0, 0], [1, 0, 0]]
psf.pointSetFitting(listA, listB)
def test_fitting_differen_set_lengths(self):
with self.assertRaises(Exception):
listA = [[0, 0, 0], [1, 0, 0], [0, 1, 0], [0, 0, 2]]
listB = [[0, 0, 0], [1, 0, 0], [0, 1, 0]]
psf.pointSetFitting(listA, listB)