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

Add Cal3Unified unit test

release/4.3a0
Fan Jiang 2022-04-17 17:04:19 -04:00
parent 4c8260bc0e
commit f212ac363a
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
python/gtsam/tests/test_Cal3Unified.py
View File

@ -139,6 +139,17 @@ class TestCal3Unified(GtsamTestCase):
self.gtsamAssertEquals(z, np.zeros(2)) self.gtsamAssertEquals(z, np.zeros(2))
self.gtsamAssertEquals(H @ H.T, 4*np.eye(2)) self.gtsamAssertEquals(H @ H.T, 4*np.eye(2))
Dcal = np.zeros((2, 10), order='F')
Dp = np.zeros((2, 2), order='F')
camera.calibrate(img_point, Dcal, Dp)
self.gtsamAssertEquals(Dcal, np.array(
[[ 0., 0., 0., -1., 0., 0., 0., 0., 0., 0.],
[ 0., 0., 0., 0., -1., 0., 0., 0., 0., 0.]]))
self.gtsamAssertEquals(Dp, np.array(
[[ 1., -0.],
[-0., 1.]]))
@unittest.skip("triangulatePoint3 currently seems to require perspective projections.") @unittest.skip("triangulatePoint3 currently seems to require perspective projections.")
def test_triangulation(self): def test_triangulation(self):
"""Estimate spatial point from image measurements""" """Estimate spatial point from image measurements"""