def test_rig_recover_inplace(self):
trajectories = deepcopy(self._trajectories_cams)
rigs = deepcopy(self._rigs)
kapture.rigs_recover_inplace(trajectories, rigs)
self.assertTrue(
equal_trajectories(trajectories, self._trajectories_rigs))
self.assertTrue(equal_rigs(rigs, self._rigs))
def test_rig_recover_inplace_consistency(self):
# compare inplace and not inplace
trajectories_inplace = deepcopy(self._trajectories_cams)
rigs_inplace = deepcopy(self._rigs)
kapture.rigs_recover_inplace(trajectories_inplace, rigs_inplace)
trajectories_not_inplace = kapture.rigs_recover(self._trajectories_cams, self._rigs)
self.assertTrue(equal_trajectories(trajectories_inplace, trajectories_not_inplace))
def test_rig_remove_inplace_consistency(self):
# compare inplace and not inplace
trajectories_inplace = deepcopy(self._trajectories_rigs)
rigs_inplace = deepcopy(self._rigs)
kapture.rigs_remove_inplace(trajectories_inplace, rigs_inplace)
trajectories_not_inplace = kapture.rigs_remove(self._trajectories_rigs, self._rigs)
self.assertTrue(equal_trajectories(trajectories_inplace, trajectories_not_inplace))
# make sure rigs are untouched.
self.assertTrue(equal_rigs(rigs_inplace, self._rigs))
def test_equal_trajectories(self):
kapture_data_a = copy.deepcopy(self._kapture_data)
kapture_data_b = copy.deepcopy(self._kapture_data)
self.assertTrue(
equal_trajectories(kapture_data_a.trajectories,
kapture_data_b.trajectories))
kapture_data_a.trajectories[(7497487, '497376')] = self._pose_a
self.assertFalse(
equal_trajectories(kapture_data_a.trajectories,
kapture_data_b.trajectories))
kapture_data_b.trajectories[(7497487, '497376')] = self._pose_a
self.assertTrue(
equal_trajectories(kapture_data_a.trajectories,
kapture_data_b.trajectories))
kapture_data_b.trajectories[(7497487, '497376')] = self._pose_b
self.assertFalse(
equal_trajectories(kapture_data_a.trajectories,
kapture_data_b.trajectories))
def test_rig_recover(self):
trajectories_w_rigs = kapture.rigs_recover(self._trajectories_cams,
self._rigs)
self.assertTrue(
equal_trajectories(trajectories_w_rigs, self._trajectories_rigs))