Set epsilon to meaningfull value, clean up

bob/ip/stereo/test/test.py

@@ -62,8 +62,9 @@ def canberra_distance(array1, array2):
 def is_close_enough(image1, image2):
     """Checks if the 2 inputs are close enough to pass the test, using different metrics.
 
-    The test is considered passed if the difference between the inputs is not more than the a small value for each pixel.
-    Eg: the first test is considered passed if "distance(image1, image2) < distance(image1, image1 + 2)"
+    The test is considered passed if the difference between the inputs is not more than the a small value for each 
+    pixel on average.
+    Eg: the first test is considered passed if "distance(image1, image2) < distance(image1, image1 + epsilon)"
 
     The images are expected to be in unsigned int format (so positive).
 
@@ -73,11 +74,13 @@ def is_close_enough(image1, image2):
 
     nb_elements = np.prod(image1.shape)
 
+    epsilon = 0.5  # allowed average difference between image
+
     return (
-        sum_of_squared_absolute_difference(image1, image2) < 2 * nb_elements
-        and euclidian_distance(image1, image2) < 4 * nb_elements
-        and manhattan_distance(image1, image2) < 2 * nb_elements
-        and canberra_distance(image1, image2) < 2 * nb_elements / (np.mean(image1) + np.mean(image2))
+        sum_of_squared_absolute_difference(image1, image2) < epsilon * nb_elements
+        and euclidian_distance(image1, image2) < (epsilon ** 2) * nb_elements
+        and manhattan_distance(image1, image2) < epsilon * nb_elements
+        and canberra_distance(image1, image2) < epsilon * nb_elements / (np.mean(image1) + np.mean(image2))
     )
 
 
@@ -116,18 +119,5 @@ def test_stereo_mapping_and_project():
     assert groundtruth_color_image.shape == projected_image.shape
     assert groundtruth_map_3d.shape == map_3d.shape
 
-    # assert np.allclose(groundtruth_color_image, projected_image)
-    # assert np.allclose(groundtruth_map_3d, map_3d)
-
-    print("ssad", sum_of_squared_absolute_difference(groundtruth_color_image, projected_image))
-    print("n2", euclidian_distance(groundtruth_color_image, projected_image))
-    print("manhattan", manhattan_distance(groundtruth_color_image, projected_image))
-    print("canberra", canberra_distance(groundtruth_color_image, projected_image))
-
-    print("ssad", sum_of_squared_absolute_difference(groundtruth_map_3d, map_3d))
-    print("n2", euclidian_distance(groundtruth_map_3d, map_3d))
-    print("manhattan", manhattan_distance(groundtruth_map_3d, map_3d))
-    print("canberra", canberra_distance(groundtruth_map_3d, map_3d))
-
     assert is_close_enough(groundtruth_color_image, projected_image)
     assert is_close_enough(groundtruth_map_3d, map_3d)