Inheritance diagram for test_Sim3.TestSim3:
Public Member Functions | |
| def | test_align_poses_along_straight_line (self) |
| def | test_align_poses_along_straight_line_gauge (self) |
| def | test_align_poses_scaled_squares (self) |
 Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase | |
| def | assertEqualityOnPickleRoundtrip |
| def | gtsamAssertEquals (self, actual, expected, tol=1e-9) |
Detailed Description
Test selected Sim3 methods.
Definition at line 21 of file test_Sim3.py.
Member Function Documentation
| def test_Sim3.TestSim3.test_align_poses_along_straight_line | ( | self | ) |
Test Align Pose3Pairs method. Scenario: 3 object poses same scale (no gauge ambiguity) world frame has poses rotated about x-axis (90 degree roll) world and egovehicle frame translated by 15 meters w.r.t. each other
Definition at line 24 of file test_Sim3.py.
| def test_Sim3.TestSim3.test_align_poses_along_straight_line_gauge | ( | self | ) |
Test if Align Pose3Pairs method can account for gauge ambiguity. Scenario: 3 object poses with gauge ambiguity (2x scale) world frame has poses rotated about z-axis (90 degree yaw) world and egovehicle frame translated by 11 meters w.r.t. each other
Definition at line 59 of file test_Sim3.py.
| def test_Sim3.TestSim3.test_align_poses_scaled_squares | ( | self | ) |
Test if Align Pose3Pairs method can account for gauge ambiguity. Make sure a big and small square can be aligned. The u's represent a big square (10x10), and v's represents a small square (4x4). Scenario: 4 object poses with gauge ambiguity (2.5x scale)
Definition at line 94 of file test_Sim3.py.
The documentation for this class was generated from the following file: