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