def test_init_from_frame(self):
ident_hom = HomographyD()
f1 = F2FHomography(5)
f2 = F2FHomography(-7)
f3 = F2FHomography(0)
self.check_properties(f1, ident_hom.matrix(), 5, 5)
self.check_properties(f2, ident_hom.matrix(), -7, -7)
self.check_properties(f3, ident_hom.matrix(), 0, 0)
def test_mul_exception(self):
# If LHS.from_id != RHS.to_id, __mul__ should raise an exception
f1 = F2FHomography(HomographyD.random(), 0, 5)
f2 = F2FHomography(HomographyD.random(), 10, 1)
exp_err_msg = "Homography frame identifiers do not match up"
# 0 != 1, so this should throw
with nt.assert_raises_regexp(RuntimeError, exp_err_msg):
f1 * f2
def test_get(self):
f2f_d = F2FHomography(HomographyD.random(), 0, 5)
f2f_f = F2FHomography(HomographyF.random(), 10, 0)
mat_d = f2f_d.homography.matrix()
mat_f = f2f_f.homography.matrix()
self.check_each_element_equal(f2f_d, mat_d, prec=15)
self.check_each_element_equal(f2f_f, mat_f)
def test_init_from_homography(self):
hd = HomographyD()
hf = HomographyF()
f2f_d = F2FHomography(hd, 0, 5)
f2f_f = F2FHomography(hf, 0, 5)
self.check_properties(f2f_d, hd.matrix(), 0, 5, prec=15)
self.check_properties(f2f_f, hf.matrix(), 0, 5)
hd = HomographyD.random()
hf = HomographyF.random()
f2f_d = F2FHomography(hd, 5, 0)
f2f_f = F2FHomography(hf, 5, 0)
self.check_properties(f2f_d, hd.matrix(), 5, 0, prec=15)
self.check_properties(f2f_f, hf.matrix(), 5, 0)
def test_mul(self):
# Doubles
f2f_d1 = F2FHomography(HomographyD.random(), 0, 5)
f2f_d2 = F2FHomography(HomographyD.random(), 10, 0)
mat1 = f2f_d1.homography.matrix()
mat2 = f2f_d2.homography.matrix()
self.check_properties(f2f_d1 * f2f_d2,
np.dot(mat1, mat2),
10,
5,
prec=15)
# Floats
f2f_f1 = F2FHomography(HomographyF.random(), 0, 5)
f2f_f2 = F2FHomography(HomographyF.random(), 10, 0)
mat1 = f2f_f1.homography.matrix()
mat2 = f2f_f2.homography.matrix()
self.check_properties(f2f_f1 * f2f_f2, np.dot(mat1, mat2), 10, 5)
def test_mul_different_types(self):
f2f_d = F2FHomography(HomographyD.random(), 0, 5)
f2f_f = F2FHomography(HomographyF.random(), 10, 0)
mat_d = f2f_d.homography.matrix()
mat_f = f2f_f.homography.matrix()
self.check_properties(f2f_d * f2f_f,
np.dot(mat_d, mat_f),
10,
5,
prec=15)
def test_to_str(self):
f2f_d = F2FHomography(HomographyD.random(), 0, 5)
f2f_f = F2FHomography(HomographyF.random(), 10, 0)
print("\nPrinting double f2f_homography")
self.print_hom_and_mat(f2f_d)
self.check_str(f2f_d)
print("\nPrinting float f2f_homography")
self.print_hom_and_mat(f2f_f)
self.check_str(f2f_f)
def test_mul_ident(self):
# Identity * identity = identity
ident = F2FHomography(10)
self.check_properties(ident * ident, np.identity(3), 10, 10, prec=15)
# Identity * F = F
f2f_d = F2FHomography(HomographyD.random(), 0, 10)
f2f_f = F2FHomography(HomographyF.random(), 0, 10)
mat_d = f2f_d.homography.matrix()
mat_f = f2f_f.homography.matrix()
self.check_properties(ident * f2f_d, mat_d, 0, 10, prec=15)
self.check_properties(ident * f2f_f, mat_f, 0, 10)
def test_inverse(self):
# Test inverse for identity matrix
f2f = F2FHomography(10)
self.check_properties(f2f.inverse(), np.identity(3), 10, 10, prec=15)
h_d = HomographyD.random()
h_f = HomographyF.random()
f2f_d = F2FHomography(h_d, 0, 5)
f2f_f = F2FHomography(h_f, 0, 5)
self.check_properties(f2f_d.inverse(),
h_d.inverse().matrix(),
5,
0,
prec=15)
self.check_properties(f2f_f.inverse(), h_f.inverse().matrix(), 5, 0)
def test_get_oob(self):
f2fs = F2FHomography(5), F2FHomography(HomographyD.random(), 5, 10)
exp_err_msg = "Tried to perform get\\(\\) out of bounds"
for f2f in f2fs:
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(3, 0)
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(-4, 0)
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(0, 3)
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(0, -4)
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(5, 5)
with nt.assert_raises_regexp(IndexError, exp_err_msg):
f2f.get(-6, -6)
def test_copy_construct(self):
# Copy from default constructor
f2f = F2FHomography(10)
f2f_copy = F2FHomography(f2f)
self.check_properties(f2f_copy,
f2f.homography.matrix(),
10,
10,
prec=15)
# Copy from specified matrix for doubles and floats
f2f_d = F2FHomography(HomographyD.random(), 0, 5)
f2f_f = F2FHomography(HomographyF.random(), 0, 5)
f2f_d_copy = F2FHomography(f2f_d)
f2f_f_copy = F2FHomography(f2f_f)
self.check_properties(f2f_d_copy,
f2f_d.homography.matrix(),
0,
5,
prec=15)
self.check_properties(f2f_f_copy, f2f_f.homography.matrix(), 0, 5)