12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update Python test

release/4.3a0
Varun Agrawal 2020-11-30 10:40:39 -05:00
parent 2703307a43
commit d9018a9593
1 changed files with 8 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
python/gtsam/tests/test_SimpleCamera.py
View File

@ -14,11 +14,12 @@ import unittest
import numpy as np import numpy as np
import gtsam import gtsam
from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, SimpleCamera from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, PinholeCameraCal3_S2 as SimpleCamera
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
K = Cal3_S2(625, 625, 0, 0, 0) K = Cal3_S2(625, 625, 0, 0, 0)
class TestSimpleCamera(GtsamTestCase): class TestSimpleCamera(GtsamTestCase):
def test_constructor(self): def test_constructor(self):
@ -29,15 +30,15 @@ class TestSimpleCamera(GtsamTestCase):
def test_level2(self): def test_level2(self):
# Create a level camera, looking in Y-direction # Create a level camera, looking in Y-direction
pose2 = Pose2(0.4,0.3,math.pi/2.0) pose2 = Pose2(0.4, 0.3, math.pi/2.0)
camera = SimpleCamera.Level(K, pose2, 0.1) camera = SimpleCamera.Level(K, pose2, 0.1)
# expected # expected
x = Point3(1,0,0) x = Point3(1, 0, 0)
y = Point3(0,0,-1) y = Point3(0, 0, -1)
z = Point3(0,1,0) z = Point3(0, 1, 0)
wRc = Rot3(x,y,z) wRc = Rot3(x, y, z)
expected = Pose3(wRc,Point3(0.4,0.3,0.1)) expected = Pose3(wRc, Point3(0.4, 0.3, 0.1))
self.gtsamAssertEquals(camera.pose(), expected, 1e-9) self.gtsamAssertEquals(camera.pose(), expected, 1e-9)