195 lines
6.8 KiB
Python
195 lines
6.8 KiB
Python
"""
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GTSAM Copyright 2010-2019, 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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Sim3 unit tests.
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Author: John Lambert
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"""
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# pylint: disable=no-name-in-module
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import unittest
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import numpy as np
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from gtsam import Pose2, Pose2Pairs, Rot2, Similarity2
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from gtsam.utils.test_case import GtsamTestCase
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class TestSim2(GtsamTestCase):
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"""Test selected Sim2 methods."""
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def test_align_poses_along_straight_line(self) -> None:
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"""Test Align Pose2Pairs method.
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Scenario:
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3 object poses
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same scale (no gauge ambiguity)
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world frame has poses rotated about 180 degrees.
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world and egovehicle frame translated by 15 meters w.r.t. each other
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"""
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R180 = Rot2.fromDegrees(180)
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# Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
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# Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
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eTo0 = Pose2(Rot2(), np.array([5, 0]))
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eTo1 = Pose2(Rot2(), np.array([10, 0]))
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eTo2 = Pose2(Rot2(), np.array([15, 0]))
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eToi_list = [eTo0, eTo1, eTo2]
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# Create destination poses
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# (same three objects, but instead living in the world "w" frame)
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wTo0 = Pose2(R180, np.array([-10, 0]))
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wTo1 = Pose2(R180, np.array([-5, 0]))
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wTo2 = Pose2(R180, np.array([0, 0]))
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wToi_list = [wTo0, wTo1, wTo2]
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we_pairs = Pose2Pairs(list(zip(wToi_list, eToi_list)))
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# Recover the transformation wSe (i.e. world_S_egovehicle)
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wSe = Similarity2.Align(we_pairs)
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for wToi, eToi in zip(wToi_list, eToi_list):
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self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi))
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def test_align_poses_along_straight_line_gauge(self):
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"""Test if Align Pose3Pairs method can account for gauge ambiguity.
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Scenario:
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3 object poses
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with gauge ambiguity (2x scale)
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world frame has poses rotated by 90 degrees.
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world and egovehicle frame translated by 11 meters w.r.t. each other
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"""
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R90 = Rot2.fromDegrees(90)
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# Create source poses (three objects o1, o2, o3 living in the egovehicle "e" frame)
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# Suppose they are 3d cuboids detected by an onboard sensor in the egovehicle frame
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eTo0 = Pose2(Rot2(), np.array([1, 0]))
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eTo1 = Pose2(Rot2(), np.array([2, 0]))
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eTo2 = Pose2(Rot2(), np.array([4, 0]))
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eToi_list = [eTo0, eTo1, eTo2]
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# Create destination poses
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# (same three objects, but instead living in the world/city "w" frame)
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wTo0 = Pose2(R90, np.array([0, 12]))
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wTo1 = Pose2(R90, np.array([0, 14]))
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wTo2 = Pose2(R90, np.array([0, 18]))
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wToi_list = [wTo0, wTo1, wTo2]
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we_pairs = Pose2Pairs(list(zip(wToi_list, eToi_list)))
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# Recover the transformation wSe (i.e. world_S_egovehicle)
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wSe = Similarity2.Align(we_pairs)
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for wToi, eToi in zip(wToi_list, eToi_list):
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self.gtsamAssertEquals(wToi, wSe.transformFrom(eToi))
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def test_align_poses_scaled_squares(self):
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"""Test if Align Pose2Pairs method can account for gauge ambiguity.
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Make sure a big and small square can be aligned.
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The u's represent a big square (10x10), and v's represents a small square (4x4).
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Scenario:
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4 object poses
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with gauge ambiguity (2.5x scale)
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"""
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# 0, 90, 180, and 270 degrees yaw
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R0 = Rot2.fromDegrees(0)
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R90 = Rot2.fromDegrees(90)
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R180 = Rot2.fromDegrees(180)
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R270 = Rot2.fromDegrees(270)
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aTi0 = Pose2(R0, np.array([2, 3]))
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aTi1 = Pose2(R90, np.array([12, 3]))
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aTi2 = Pose2(R180, np.array([12, 13]))
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aTi3 = Pose2(R270, np.array([2, 13]))
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aTi_list = [aTi0, aTi1, aTi2, aTi3]
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bTi0 = Pose2(R0, np.array([4, 3]))
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bTi1 = Pose2(R90, np.array([8, 3]))
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bTi2 = Pose2(R180, np.array([8, 7]))
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bTi3 = Pose2(R270, np.array([4, 7]))
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bTi_list = [bTi0, bTi1, bTi2, bTi3]
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ab_pairs = Pose2Pairs(list(zip(aTi_list, bTi_list)))
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# Recover the transformation wSe (i.e. world_S_egovehicle)
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aSb = Similarity2.Align(ab_pairs)
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for aTi, bTi in zip(aTi_list, bTi_list):
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self.gtsamAssertEquals(aTi, aSb.transformFrom(bTi))
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def test_constructor(self) -> None:
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"""Sim(2) to perform p_b = bSa * p_a"""
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bRa = Rot2()
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bta = np.array([1, 2])
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bsa = 3.0
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bSa = Similarity2(R=bRa, t=bta, s=bsa)
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self.assertIsInstance(bSa, Similarity2)
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np.testing.assert_allclose(bSa.rotation().matrix(), bRa.matrix())
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np.testing.assert_allclose(bSa.translation(), bta)
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np.testing.assert_allclose(bSa.scale(), bsa)
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def test_is_eq(self) -> None:
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"""Ensure object equality works properly (are equal)."""
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bSa = Similarity2(R=Rot2(), t=np.array([1, 2]), s=3.0)
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bSa_ = Similarity2(R=Rot2(), t=np.array([1.0, 2.0]), s=3)
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self.gtsamAssertEquals(bSa, bSa_)
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def test_not_eq_translation(self) -> None:
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"""Ensure object equality works properly (not equal translation)."""
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bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
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bSa_ = Similarity2(R=Rot2(), t=np.array([1.0, 2.0]), s=3)
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self.assertNotEqual(bSa, bSa_)
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def test_not_eq_rotation(self) -> None:
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"""Ensure object equality works properly (not equal rotation)."""
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bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
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bSa_ = Similarity2(R=Rot2.fromDegrees(180), t=np.array([2.0, 1.0]), s=3)
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self.assertNotEqual(bSa, bSa_)
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def test_not_eq_scale(self) -> None:
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"""Ensure object equality works properly (not equal scale)."""
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bSa = Similarity2(R=Rot2(), t=np.array([2, 1]), s=3.0)
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bSa_ = Similarity2(R=Rot2(), t=np.array([2.0, 1.0]), s=1.0)
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self.assertNotEqual(bSa, bSa_)
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def test_rotation(self) -> None:
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"""Ensure rotation component is returned properly."""
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R = Rot2.fromDegrees(90)
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t = np.array([1, 2])
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bSa = Similarity2(R=R, t=t, s=3.0)
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# evaluates to [[0, -1], [1, 0]]
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expected_R = Rot2.fromDegrees(90)
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np.testing.assert_allclose(expected_R.matrix(), bSa.rotation().matrix())
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def test_translation(self) -> None:
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"""Ensure translation component is returned properly."""
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R = Rot2.fromDegrees(90)
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t = np.array([1, 2])
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bSa = Similarity2(R=R, t=t, s=3.0)
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expected_t = np.array([1, 2])
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np.testing.assert_allclose(expected_t, bSa.translation())
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def test_scale(self) -> None:
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"""Ensure the scale factor is returned properly."""
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bRa = Rot2()
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bta = np.array([1, 2])
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bsa = 3.0
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bSa = Similarity2(R=bRa, t=bta, s=bsa)
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self.assertEqual(bSa.scale(), 3.0)
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if __name__ == "__main__":
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unittest.main()
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