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)

None	test_align_via_Sim3_to_poses_skydio32 (self)

Public Member Functions inherited from gtsam.utils.test_case.GtsamTestCase
def	assertDeepCopyEquality (self, obj)

None	assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9)

def	gtsamAssertEquals (self, actual, expected, tol=1e-9)

Detailed Description

Test selected Sim3 methods.

Definition at line 22 of file test_Sim3.py.

Member Function Documentation

◆ test_align_poses_along_straight_line()

def test_Sim3.TestSim3.test_align_poses_along_straight_line ( self )

Test Pose3 Align 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 25 of file test_Sim3.py.

◆ test_align_poses_along_straight_line_gauge()

def test_Sim3.TestSim3.test_align_poses_along_straight_line_gauge ( self )

Test if Pose3 Align 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 60 of file test_Sim3.py.

◆ test_align_poses_scaled_squares()

def test_Sim3.TestSim3.test_align_poses_scaled_squares ( self )

Test if Pose3 Align 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 95 of file test_Sim3.py.

◆ test_align_via_Sim3_to_poses_skydio32()

None test_Sim3.TestSim3.test_align_via_Sim3_to_poses_skydio32 ( self )

Ensure scale estimate of Sim(3) object is non-negative.

Comes from real data (from Skydio-32 Crane Mast sequence with a SIFT front-end).

Definition at line 133 of file test_Sim3.py.

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