def test_stereo_closest_extrapolation(self):
time = 0.175
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
stereo = imu.stereo('rolling', extrapolation='closest')
delta = abs(stereo.stamp - time)
for image in self.sequence.cameras('rolling'):
if abs(image.stamp - time) < delta:
self.fail("Found an image %s, which is closer to %s than %s" % (image, imu, stereo))
def test_stereo_next_extrapolation(self):
time = 0.16
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
stereo = imu.stereo('rolling', extrapolation='next')
for image in self.sequence.cameras('rolling'):
if image.stamp < time: continue
self.assertEqual(image.ID, stereo.ID)
return
self.fail("Unknown reason")
def test_stereo_prev_extrapolation(self):
time = 0.19
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
stereo = imu.stereo('rolling', extrapolation='prev')
previous = None
images = list(self.sequence.cameras('rolling'))
for image in reversed(images):
if image.stamp > time: continue
previous = image
break
if previous is None: self.fail("No previous image to %s found" % imu)
self.assertEqual(previous.ID, stereo.ID)
def test_imuvalue_created_correctly(self):
imu = Imu(self.sequence, [0, 0, 0, -1, 0, 0, 0])
self.assertIsInstance(imu.acceleration, np.ndarray)
self.assertIsInstance(imu.angular_velocity, np.ndarray)
self.assertTrue(np.allclose(imu.acceleration, np.array((0,0,-1))))
self.assertTrue(np.allclose(imu.angular_velocity, np.array((0,0,0))))
def test_imu_extrapolation_skips_frame_drop_sync(self):
frame1 = self.sequence.cameras('rolling')[1]
imu = Imu.extrapolate(frame1)
expected = self.sequence.cameras('rolling')[4]
actual = imu.stereo('rolling', extrapolation='next')
self.assertEqual(expected.stamp, actual.stamp)
self.assertEqual(expected.ID, actual.ID)
def test_imu_extrapolation_skips_frame_drop_unsync(self):
self.sequence.stereosync = False
frame2 = self.sequence.cameras('global')[2]
imu = Imu.extrapolate(frame2)
expected = self.sequence.cameras('global')[3]
actual = imu.stereo('global', extrapolation='next')
self.assertEqual(expected.stamp, actual.stamp)
self.assertEqual(expected.ID, actual.ID)
self.assertIsNone(actual.L)
def test_stereo_prev_extrapolation_returns_none_if_no_earier_frames_exist(self):
time = 0
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
stereo = imu.stereo('rolling', extrapolation='prev')
self.assertIsNone(stereo)
def test_stereo_next_extrapolation_returns_none_if_no_more_frames_exist(self):
time = 200
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
stereo = imu.stereo('rolling', extrapolation='next')
self.assertIsNone(stereo)
def test_imu_next_extrapolation(self):
time = 0.01
imu = Imu(self.sequence, [time, 0, 0, -1, 0, 0, 0])
expected = Imu(self.sequence, self.sequence.raw.imu[1,:])
actual = Imu.extrapolate(imu, 'next')
self.assertEqual(expected.stamp, actual.stamp)
def test_dt_is_correct(self):
imu1 = Imu(self.sequence, self.sequence.raw.imu[0, :])
imu2 = Imu(self.sequence, self.sequence.raw.imu[1, :])
self.assertEqual(imu2.dt(), imu2.stamp - imu1.stamp)