Unit test and pipeline debuging

Hi David,

I am working on the unit test, but there are a few things I am not sure about. I thought we could have the discussion here, but let me know if it is not appropriate.

First thing, I am not sure I understand how the reproject_image function works.

projected_image = reproject_image(groundtruth, map_3d, color, camera_pair)

Here I was trying to project an image of the color camera onto the same camera, expecting that it would be an identity operation. However the output is different from the input image, it is shifted up right. Is it normal or am I understanding it wrong ? In order to project the image from the nir_left camera onto the color, would this work ?

projected_image = reproject_image(left_image, map_3d, color, camera_pair)

Second thing, what would be the best metric to measure if the generated output is close enough to the input ? Similarity measure from bob.ip.qualitymeasure looked promising, but is it enough ? What do you think ?

Thank you, Vincent