46 lines
1.3 KiB
Python
46 lines
1.3 KiB
Python
"""
|
|
GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
|
|
Atlanta, Georgia 30332-0415
|
|
All Rights Reserved
|
|
|
|
See LICENSE for the license information
|
|
|
|
Unit tests for testing dataset access.
|
|
Author: Frank Dellaert & Duy Nguyen Ta (Python)
|
|
"""
|
|
# pylint: disable=invalid-name, no-name-in-module, no-member
|
|
|
|
from __future__ import print_function
|
|
|
|
import unittest
|
|
|
|
import gtsam
|
|
from gtsam import BetweenFactorPose3, BetweenFactorPose3s
|
|
from gtsam.utils.test_case import GtsamTestCase
|
|
|
|
|
|
class TestDataset(GtsamTestCase):
|
|
"""Tests for datasets.h wrapper."""
|
|
|
|
def setUp(self):
|
|
"""Get some common paths."""
|
|
self.pose3_example_g2o_file = gtsam.findExampleDataFile(
|
|
"pose3example.txt")
|
|
|
|
def test_readG2o3D(self):
|
|
"""Test reading directly into factor graph."""
|
|
is3D = True
|
|
graph, initial = gtsam.readG2o(self.pose3_example_g2o_file, is3D)
|
|
self.assertEqual(graph.size(), 6)
|
|
self.assertEqual(initial.size(), 5)
|
|
|
|
def test_parse3Dfactors(self):
|
|
"""Test parsing into data structure."""
|
|
factors = gtsam.parse3DFactors(self.pose3_example_g2o_file)
|
|
self.assertEqual(factors.size(), 6)
|
|
self.assertIsInstance(factors.at(0), BetweenFactorPose3)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|