def test_fundamental_matrix_forward(): essential_matrix_tform = EssentialMatrixTransform( rotation=np.eye(3), translation=np.array([1, 0, 0])) tform = FundamentalMatrixTransform() tform.params = essential_matrix_tform.params src = np.array([[0, 0], [0, 1], [1, 1]]) assert_almost_equal(tform(src), [[0, -1, 0], [0, -1, 1], [0, -1, 1]])
def test_fundamental_matrix_residuals(): essential_matrix_tform = EssentialMatrixTransform(rotation=np.eye(3), translation=np.array([1, 0, 0])) tform = FundamentalMatrixTransform() tform.params = essential_matrix_tform.params src = np.array([[0, 0], [0, 0], [0, 0]]) dst = np.array([[2, 0], [2, 1], [2, 2]]) assert_almost_equal(tform.residuals(src, dst) ** 2, [0, 0.5, 2])
def test_fundamental_matrix_residuals(): essential_matrix_tform = EssentialMatrixTransform( rotation=np.eye(3), translation=np.array([1, 0, 0])) tform = FundamentalMatrixTransform() tform.params = essential_matrix_tform.params src = np.array([[0, 0], [0, 0], [0, 0]]) dst = np.array([[2, 0], [2, 1], [2, 2]]) assert_almost_equal(tform.residuals(src, dst)**2, [0, 0.5, 2])