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full slew of tests

release/4.3a0
Varun Agrawal 2021-08-20 00:55:15 -04:00
parent d074dbedf5
commit 0098e76e99
1 changed files with 88 additions and 0 deletions
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python/gtsam/tests/test_Utilities.py
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@ -103,6 +103,94 @@ class TestUtilites(GtsamTestCase):
np.testing.assert_allclose(gtsam.utilities.extractPose3(initial),
pose3.reshape(-1, 12))
def test_perturbPoint2(self):
"""Test perturbPoint2."""
values = gtsam.Values()
values.insert(0, gtsam.Pose3())
values.insert(1, gtsam.Point2(1, 1))
gtsam.utilities.perturbPoint2(values, 1.0)
self.assertTrue(
not np.allclose(values.atPoint2(1), gtsam.Point2(1, 1)))
def test_perturbPose2(self):
"""Test perturbPose2."""
values = gtsam.Values()
values.insert(0, gtsam.Pose2())
values.insert(1, gtsam.Point2(1, 1))
gtsam.utilities.perturbPose2(values, 1, 1)
self.assertTrue(values.atPose2(0) != gtsam.Pose2())
def test_perturbPoint3(self):
"""Test perturbPoint3."""
values = gtsam.Values()
point3 = gtsam.Point3(0, 0, 0)
values.insert(0, gtsam.Pose2())
values.insert(1, point3)
gtsam.utilities.perturbPoint3(values, 1)
self.assertTrue(not np.allclose(values.atPoint3(1), point3))
def test_insertBackprojections(self):
"""Test insertBackprojections."""
values = gtsam.Values()
cam = gtsam.PinholeCameraCal3_S2()
gtsam.utilities.insertBackprojections(
values, cam, [0, 1, 2], np.asarray([[20, 30, 40], [20, 30, 40]]),
10)
np.testing.assert_allclose(values.atPoint3(0),
gtsam.Point3(200, 200, 10))
def test_insertProjectionFactors(self):
"""Test insertProjectionFactors."""
graph = gtsam.NonlinearFactorGraph()
gtsam.utilities.insertProjectionFactors(
graph, 0, [0, 1], np.asarray([[20, 30], [20, 30]]),
gtsam.noiseModel.Isotropic.Sigma(2, 0.1), gtsam.Cal3_S2())
self.assertEqual(graph.size(), 2)
graph = gtsam.NonlinearFactorGraph()
gtsam.utilities.insertProjectionFactors(
graph, 0, [0, 1], np.asarray([[20, 30], [20, 30]]),
gtsam.noiseModel.Isotropic.Sigma(2, 0.1), gtsam.Cal3_S2(),
gtsam.Pose3(gtsam.Rot3(), gtsam.Point3(1, 0, 0)))
self.assertEqual(graph.size(), 2)
def test_reprojectionErrors(self):
"""Test reprojectionErrors."""
pixels = np.asarray([[20, 30], [20, 30]])
I = [1, 2]
K = gtsam.Cal3_S2()
graph = gtsam.NonlinearFactorGraph()
gtsam.utilities.insertProjectionFactors(
graph, 0, I, pixels, gtsam.noiseModel.Isotropic.Sigma(2, 0.1), K)
values = gtsam.Values()
values.insert(0, gtsam.Pose3())
cam = gtsam.PinholeCameraCal3_S2(gtsam.Pose3(), K)
gtsam.utilities.insertBackprojections(values, cam, I, pixels, 10)
errors = gtsam.utilities.reprojectionErrors(graph, values)
np.testing.assert_allclose(errors, np.zeros((2, 2)))
def test_localToWorld(self):
"""Test localToWorld."""
local = gtsam.Values()
local.insert(0, gtsam.Point2(10, 10))
local.insert(1, gtsam.Pose2(6, 11, 0.0))
base = gtsam.Pose2(1, 0, 0)
world = gtsam.utilities.localToWorld(local, base)
expected_point2 = gtsam.Point2(11, 10)
expected_pose2 = gtsam.Pose2(7, 11, 0)
np.testing.assert_allclose(world.atPoint2(0), expected_point2)
np.testing.assert_allclose(
world.atPose2(1).matrix(), expected_pose2.matrix())
user_keys = [1]
world = gtsam.utilities.localToWorld(local, base, user_keys)
np.testing.assert_allclose(
world.atPose2(1).matrix(), expected_pose2.matrix())
# Raise error since 0 is not in user_keys
self.assertRaises(RuntimeError, world.atPoint2, 0)
if __name__ == "__main__":
unittest.main()