test_backwards_compatibility.TestBackwardsCompatibility Class Reference

Inheritance diagram for test_backwards_compatibility.TestBackwardsCompatibility:

Public Member Functions
def	generate_measurements
def	setUp (self)
def	test_align (self)
def	test_align_poses2_along_straight_line (self)
def	test_align_poses2_along_straight_line_gauge (self)
def	test_align_poses2_scaled_squares (self)
def	test_align_poses3_along_straight_line (self)
def	test_align_poses3_along_straight_line_gauge (self)
def	test_align_poses3_scaled_squares (self)
def	test_align_squares (self)
def	test_Cal3Fisheye_triangulation_rectify (self)
def	test_Cal3Unified_triangulation_rectify (self)
def	test_constructorBetweenFactorPose2s (self)
def	test_factor (self)
def	test_find (self)
def	test_find_karcher_mean_identity (self)
def	test_FixedLagSmootherExample (self)
def	test_ordering (self)
def	test_outliers_and_far_landmarks (self)
def	test_sfm_track_2d_constructor (self)
def	test_track_generation (self)
def	test_triangulation_robust_three_poses (self)
def	test_TriangulationExample (self)
Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def	assertEqualityOnPickleRoundtrip
def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Public Attributes
	fisheye_cameras
	fisheye_measurements
	landmark
	origin
	poses
	stereographic
	triangulation_poses
	Set up two camera poses Looking along X-axis, 1 meter above ground plane (x-y) More...
	unified_cameras
	unified_measurements

Static Public Attributes
	camera
	cameras
	K
	measurements
	z

Detailed Description

Tests for the backwards compatibility for the Python wrapper.

Definition at line 31 of file test_backwards_compatibility.py.

Member Function Documentation

generate_measurements()

def test_backwards_compatibility.TestBackwardsCompatibility.generate_measurements	(		self,
			calibration
	)

Definition at line 700 of file test_backwards_compatibility.py.

setUp()

def test_backwards_compatibility.TestBackwardsCompatibility.setUp

(

self

)

Setup test fixtures

Definition at line 34 of file test_backwards_compatibility.py.

test_align()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align	(		self,
			None
	)

Ensure estimation of the Pose2 element to align two 2d point clouds succeeds.

Two point clouds represent horseshoe-shapes of the same size, just rotated and translated:

|  X---X
|  |
|  X---X
------------------
|
|
      O | O
      | | |
      O---O

Definition at line 363 of file test_backwards_compatibility.py.

test_align_poses2_along_straight_line()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses2_along_straight_line	(		self,
			None
	)

Test Align of list of Pose2Pair.

Scenario:
   3 object poses
   same scale (no gauge ambiguity)
   world frame has poses rotated about 180 degrees.
   world and egovehicle frame translated by 15 meters w.r.t. each other

Definition at line 482 of file test_backwards_compatibility.py.

test_align_poses2_along_straight_line_gauge()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses2_along_straight_line_gauge

(

self

)

Test if Align Pose2Pairs method can account for gauge ambiguity.

Scenario:
   3 object poses
   with gauge ambiguity (2x scale)
   world frame has poses rotated by 90 degrees.
   world and egovehicle frame translated by 11 meters w.r.t. each other

Definition at line 517 of file test_backwards_compatibility.py.

test_align_poses2_scaled_squares()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses2_scaled_squares

(

self

)

Test if Align Pose2Pairs 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 552 of file test_backwards_compatibility.py.

test_align_poses3_along_straight_line()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses3_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 590 of file test_backwards_compatibility.py.

test_align_poses3_along_straight_line_gauge()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses3_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 625 of file test_backwards_compatibility.py.

test_align_poses3_scaled_squares()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_poses3_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 660 of file test_backwards_compatibility.py.

test_align_squares()

def test_backwards_compatibility.TestBackwardsCompatibility.test_align_squares

(

self

)

Test if Align method can align 2 squares.

Definition at line 409 of file test_backwards_compatibility.py.

test_Cal3Fisheye_triangulation_rectify()

def test_backwards_compatibility.TestBackwardsCompatibility.test_Cal3Fisheye_triangulation_rectify

(

self

)

Estimate spatial point from image measurements using
rectification from a Cal3Fisheye camera model.

Definition at line 76 of file test_backwards_compatibility.py.

test_Cal3Unified_triangulation_rectify()

def test_backwards_compatibility.TestBackwardsCompatibility.test_Cal3Unified_triangulation_rectify

(

self

)

Estimate spatial point from image measurements using
rectification from a Cal3Unified camera model.

Definition at line 93 of file test_backwards_compatibility.py.

test_constructorBetweenFactorPose2s()

def test_backwards_compatibility.TestBackwardsCompatibility.test_constructorBetweenFactorPose2s	(		self,
			None
	)

Check if ShonanAveraging2 constructor works when not initialized from g2o file.

GT pose graph:

   | cam 1 = (0,4)
 --o
   | .
   .   .
   .     .
   |       |
   o-- ... o--
cam 0       cam 2 = (4,0)
  (0,0)

Definition at line 428 of file test_backwards_compatibility.py.

test_factor()

def test_backwards_compatibility.TestBackwardsCompatibility.test_factor

(

self

)

Check that the InnerConstraint factor leaves the mean unchanged.

Definition at line 333 of file test_backwards_compatibility.py.

test_find()

def test_backwards_compatibility.TestBackwardsCompatibility.test_find

(

self

)

Check that optimizing for Karcher mean (which minimizes Between distance)
gets correct result.

Definition at line 309 of file test_backwards_compatibility.py.

test_find_karcher_mean_identity()

def test_backwards_compatibility.TestBackwardsCompatibility.test_find_karcher_mean_identity

(

self

)

Averaging 3 identity rotations should yield the identity.

Definition at line 321 of file test_backwards_compatibility.py.

test_FixedLagSmootherExample()

def test_backwards_compatibility.TestBackwardsCompatibility.test_FixedLagSmootherExample

(

self

)

Simple test that checks for equality between C++ example
file and the Python implementation. See
gtsam_unstable/examples/FixedLagSmootherExample.cpp

Definition at line 182 of file test_backwards_compatibility.py.

test_ordering()

def test_backwards_compatibility.TestBackwardsCompatibility.test_ordering

(

self

)

Test ordering

Definition at line 279 of file test_backwards_compatibility.py.

test_outliers_and_far_landmarks()

def test_backwards_compatibility.TestBackwardsCompatibility.test_outliers_and_far_landmarks	(		self,
			None
	)

Check safe triangulation function.

Definition at line 831 of file test_backwards_compatibility.py.

test_sfm_track_2d_constructor()

def test_backwards_compatibility.TestBackwardsCompatibility.test_sfm_track_2d_constructor	(		self,
			None
	)

Test construction of 2D SfM track.

Definition at line 174 of file test_backwards_compatibility.py.

test_track_generation()

def test_backwards_compatibility.TestBackwardsCompatibility.test_track_generation	(		self,
			None
	)

Ensures that DSF generates three tracks from measurements
in 3 images (H=200,W=400).

Definition at line 110 of file test_backwards_compatibility.py.

test_triangulation_robust_three_poses()

def test_backwards_compatibility.TestBackwardsCompatibility.test_triangulation_robust_three_poses	(		self,
			None
	)

Ensure triangulation with a robust model works.

Definition at line 766 of file test_backwards_compatibility.py.

test_TriangulationExample()

def test_backwards_compatibility.TestBackwardsCompatibility.test_TriangulationExample	(		self,
			None
	)

Tests triangulation with shared Cal3_S2 calibration

Definition at line 734 of file test_backwards_compatibility.py.

Member Data Documentation

camera

test_backwards_compatibility.TestBackwardsCompatibility.camera

static

Definition at line 727 of file test_backwards_compatibility.py.

cameras

test_backwards_compatibility.TestBackwardsCompatibility.cameras

static

Definition at line 720 of file test_backwards_compatibility.py.

fisheye_cameras

test_backwards_compatibility.TestBackwardsCompatibility.fisheye_cameras

Definition at line 47 of file test_backwards_compatibility.py.

fisheye_measurements

test_backwards_compatibility.TestBackwardsCompatibility.fisheye_measurements

Definition at line 48 of file test_backwards_compatibility.py.

K

test_backwards_compatibility.TestBackwardsCompatibility.K

static

Definition at line 726 of file test_backwards_compatibility.py.

landmark

test_backwards_compatibility.TestBackwardsCompatibility.landmark

Definition at line 74 of file test_backwards_compatibility.py.

measurements

test_backwards_compatibility.TestBackwardsCompatibility.measurements

static

Definition at line 723 of file test_backwards_compatibility.py.

origin

test_backwards_compatibility.TestBackwardsCompatibility.origin

Definition at line 44 of file test_backwards_compatibility.py.

poses

test_backwards_compatibility.TestBackwardsCompatibility.poses

Definition at line 45 of file test_backwards_compatibility.py.

stereographic

test_backwards_compatibility.TestBackwardsCompatibility.stereographic

Definition at line 54 of file test_backwards_compatibility.py.

triangulation_poses

test_backwards_compatibility.TestBackwardsCompatibility.triangulation_poses

Set up two camera poses Looking along X-axis, 1 meter above ground plane (x-y)

Definition at line 69 of file test_backwards_compatibility.py.

unified_cameras

test_backwards_compatibility.TestBackwardsCompatibility.unified_cameras

Definition at line 58 of file test_backwards_compatibility.py.

unified_measurements

test_backwards_compatibility.TestBackwardsCompatibility.unified_measurements

Definition at line 59 of file test_backwards_compatibility.py.

z

test_backwards_compatibility.TestBackwardsCompatibility.z

static

Definition at line 729 of file test_backwards_compatibility.py.

---

The documentation for this class was generated from the following file:

• test_backwards_compatibility.py