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 | |
None | assertEqualityOnPickleRoundtrip (self, object obj, tol=1e-9) |
def | gtsamAssertEquals (self, actual, expected, tol=1e-9) |
Test selected Sim3 methods.
Definition at line 22 of file test_Sim3.py.
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.
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.
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.
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.