def test_highest_match_using_fit_and_chamfer_distance(self):
d = load_test_files()
base = d[2]
def m(vg1, vg2):
vg_fit = fit.icp(vg2, vg1, scale=0.1, max_iter=10, downsample=2)
return -metrics.chamfer_distance(vg1, vg_fit, scale=0.1, downsample=2)
ind, elem = metrics.highest_match(base, d, m)
self.assertEqual(2, ind)
def test_highest_match_using_fit_and_iou(self):
d = load_test_files()
base = d[0]
def m(vg1, vg2):
vg_fit = fit.icp(vg2, vg1, scale=0.1, max_iter=10, downsample=2)
return metrics.iou(vg1, vg_fit)
ind, elem = metrics.highest_match(base, d, m)
self.assertEqual(0, ind)
def test_highest_match(self):
"""
Note that this test assumes that metric(a,b) is maximized when a==b
"""
d = load_test_files()
for i in range(3):
test_vg = d[i]
best_ind, best_elem = metrics.highest_match(test_vg, d)
self.assertEqual(i, best_ind, "Wrong index returned")
self.assertTrue((best_elem == d[i]).all(), "Returned element is not the best element")