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test+fix: direct tests for e2h/h2e, h2e rejects <2 rows, document contract - #240
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e2h/h2e had one assertion each (N-vector only), with the matrix path and h2e scaling only exercised indirectly via the pose tests. Add tests for vector input types, matrix input, per-column scaling, round trips, bad types, and pin the current (1,N)-is-a-matrix interpretation. Docstrings: e2h's :seealso: pointed at itself (now h2e); document the (1,N) interpretation in both. No behavior change. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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h2e of a (1,N) array, a length-1 vector or a scalar returned an empty (0,N) array, which is never useful (a homogeneous point has at least two elements). Raise ValueError instead. Docstrings for e2h and h2e now state the contract up front: columns are points, rows never are, with explicit shapes, the (1,N) consequence and :raises: entries. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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e2handh2ehad a single assertion each (N-vector input only). The matrix path andh2e's per-column scaling were only exercised indirectly through the pose tests, and the shape contract for 2D input was undocumented.Tests (
tests/base/test_transformsNd.py)h2escaling by each column's own last elementh2e(e2h(x))ande2h(h2e(x))round tripsValueErrorfor bad types(1,N)array is a matrix of N 1-vectors, not a row vector. This documents current behavior rather than endorsing it, so any change to it is deliberate.Behavior change (small)
h2enow raisesValueErrorfor input with fewer than two rows (a(1,N)array, a length-1 vector, or a scalar). Previously it returned an empty(0,N)array, which is never useful: a homogeneous point has at least two elements. Checked callers in MVTB (Camera.py,ImageReshape.py); both pass 3-row arrays.e2his unchanged.Docstrings (
spatialmath/base/transformsNd.py):raises:entries added;e2h's:seealso:pointed at itself, nowh2e.Rank-0 and rank-3 rejection is covered by #239 (
isvector) and is deliberately not duplicated here; this PR is independent of it.Full suite: 355 passed, 3 skipped.
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