49 lines
1.5 KiB
Python
49 lines
1.5 KiB
Python
"""
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GTSAM Copyright 2010-2020, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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See LICENSE for the license information
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Unit tests to check pickling.
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Author: Ayush Baid
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"""
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from gtsam.utils.test_case import GtsamTestCase
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from gtsam import (Cal3Bundler, PinholeCameraCal3Bundler, Point2, Point3,
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Pose3, Rot3, SfmTrack, Unit3)
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class TestPickle(GtsamTestCase):
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"""Tests pickling on some of the classes."""
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def test_cal3Bundler_roundtrip(self):
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obj = Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_pinholeCameraCal3Bundler_roundtrip(self):
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obj = PinholeCameraCal3Bundler(
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Pose3(Rot3.RzRyRx(0, 0.1, -0.05), Point3(1, 1, 0)),
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Cal3Bundler(fx=100, k1=0.1, k2=0.2, u0=100, v0=70),
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)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_rot3_roundtrip(self):
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obj = Rot3.RzRyRx(0, 0.05, 0.1)
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_pose3_roundtrip(self):
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obj = Pose3(Rot3.Ypr(0.0, 1.0, 0.0), Point3(1, 1, 0))
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_sfmTrack_roundtrip(self):
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obj = SfmTrack(Point3(1, 1, 0))
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obj.addMeasurement(0, Point2(-1, 5))
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obj.addMeasurement(1, Point2(6, 2))
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self.assertEqualityOnPickleRoundtrip(obj)
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def test_unit3_roundtrip(self):
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obj = Unit3(Point3(1, 1, 0))
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self.assertEqualityOnPickleRoundtrip(obj)
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