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98 lines
3.2 KiB
Python
98 lines
3.2 KiB
Python
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#!/usr/bin/env python
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# 2009-01-16, Xavier Delacour <xavier.delacour@gmail.com>
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import unittest
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from numpy import *;
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from numpy.linalg import *;
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import sys;
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import cvtestutils
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from cv import *;
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from adaptors import *;
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def transform(H,x):
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x1 = H * asmatrix(r_[x[0],x[1],1]).transpose()
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x1 = asarray(x1).flatten()
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return r_[x1[0]/x1[2],x1[1]/x1[2]]
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class homography_test(unittest.TestCase):
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def test_ransac_identity(self):
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pts1 = random.rand(100,2);
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result,H = cvFindHomography(pts1, pts1, CV_RANSAC, 1e-5);
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assert(result and all(abs(Ipl2NumPy(H) - eye(3)) < 1e-5));
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def test_ransac_0_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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result,H = cvFindHomography(pts1, pts2, CV_RANSAC, 1e-5);
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assert(result and all(abs(H1-H)<1e-5))
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def test_ransac_30_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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pts2[0:30] = random.rand(30,2)
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result,H = cvFindHomography(pts1, pts2, CV_RANSAC, 1e-5);
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assert(result and all(abs(H1-H)<1e-5))
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def test_ransac_70_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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pts2[0:70] = random.rand(70,2)
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result,H = cvFindHomography(pts1, pts2, CV_RANSAC, 1e-5);
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assert(result and all(abs(H1-H)<1e-5))
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def test_ransac_90_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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pts2[0:90] = random.rand(90,2)
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result,H = cvFindHomography(pts1, pts2, CV_RANSAC, 1e-5);
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assert(not result or not all(abs(H1-H)<1e-5))
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def test_lmeds_identity(self):
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pts1 = random.rand(100,2);
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result,H = cvFindHomography(pts1, pts1, CV_LMEDS);
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assert(result and all(abs(Ipl2NumPy(H) - eye(3)) < 1e-5));
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def test_lmeds_0_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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result,H = cvFindHomography(pts1, pts2, CV_LMEDS);
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assert(result and all(abs(H1-H)<1e-5))
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def test_lmeds_30_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = [transform(H1,x) for x in pts1]
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pts2[0:30] = random.rand(30,2)
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result,H = cvFindHomography(pts1, pts2, CV_LMEDS);
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assert(result and all(abs(H1-H)<1e-5))
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def test_lmeds_70_outliers(self):
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pts1 = random.rand(100,2);
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H1 = asmatrix(random.rand(3,3));
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H1 = H1 / H1[2,2]
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pts2 = vstack([transform(H1,x) for x in pts1])
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pts2[0:70] = random.rand(70,2)
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result,H = cvFindHomography(pts1, pts2, CV_LMEDS);
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assert(not result or not all(abs(H1-H)<1e-5))
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def suite():
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return unittest.TestLoader().loadTestsFromTestCase(homography_test)
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if __name__ == '__main__':
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unittest.TextTestRunner(verbosity=2).run(suite())
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