Commit d166c9e7 authored by jay's avatar jay
Browse files

Fixes transformation tests

parent 78b21419

autocnet/transformation/tests/test_fundamental_matrix.py

+10 −5
Original line number Diff line number Diff line
@@ -104,19 +104,24 @@ class TestFundamentalMatrix(unittest.TestCase): 
    def test_update_fundamental_mask(self):

        np.random.seed(12345)

        nbr_inliers = 20

        fp = np.array(np.random.standard_normal((nbr_inliers, 2)))

        tp = np.array(np.random.standard_normal((nbr_inliers, 2)))

        

        fp = np.ones((nbr_inliers, 3))

        tp = np.ones((nbr_inliers, 3))

        fp[:, :2] = np.array(np.random.standard_normal((nbr_inliers, 2)))

        tp[:, :2] = np.array(np.random.standard_normal((nbr_inliers, 2)))



        F, mask = fm.compute_fundamental_matrix(fp, tp, method='ransac')



        new_mask = fm.update_fundamental_mask(F, fp, tp, threshold=0.5, method='reprojection')

        self.assertEqual(8, new_mask['fundamental'].sum())

        self.assertEqual(9, new_mask['fundamental'].sum())



    def test_update_fundamental_mask_with_index(self):

        np.random.seed(12345)

        nbr_inliers = 20

        fp = np.array(np.random.standard_normal((nbr_inliers, 2)))

        tp = np.array(np.random.standard_normal((nbr_inliers, 2)))

        fp = np.ones((nbr_inliers, 3))

        tp = np.ones((nbr_inliers, 3))

        fp[:, :2] = np.array(np.random.standard_normal((nbr_inliers, 2)))

        tp[:, :2] = np.array(np.random.standard_normal((nbr_inliers, 2)))



        F, mask = fm.compute_fundamental_matrix(fp, tp, method='ransac')

        new_index = np.arange(20)[::-1]  #Just reverse the index