def test_absolute_pose_three_points(shots_and_their_points):
exact_found = 0
for pose, bearings, points in shots_and_their_points:
result = pygeometry.absolute_pose_three_points(bearings, points)
expected = pose.get_world_to_cam()[:3]
for Rt in result:
exact_found += np.linalg.norm(expected - Rt, ord="fro") < 1e-6
exacts = len(shots_and_their_points) - 2
assert exact_found >= exacts
def test_absolute_pose_three_points(shots_and_their_points):
exact_found = 0
for pose, bearings, points in shots_and_their_points:
result = pygeometry.absolute_pose_three_points(bearings, points)
expected = pose.get_Rt()
for Rt in result:
exact_found += (np.linalg.norm(expected - Rt, ord='fro') < 1e-6)
exacts = len(shots_and_their_points) - 2
assert exact_found >= exacts
def test_absolute_pose_three_points(one_shot_and_its_points):
pose, bearings, points = one_shot_and_its_points
result = pygeometry.absolute_pose_three_points(bearings, points)
exact_found = False
expected = pose.get_Rt()
for Rt in result:
if np.linalg.norm(expected-Rt, ord='fro') < 1e-6:
exact_found = True
assert exact_found