def test_get_infos(self):
helpers.fake_trajectory(10, 1).get_infos()
def test_check(self):
self.assertTrue(helpers.fake_trajectory(10, 1).check()[0])
wrong_traj = helpers.fake_trajectory(10, 1)
wrong_traj.timestamps[0] = 666
self.assertFalse(wrong_traj.check()[0])
def test_reduce_to_ids(self):
traj = helpers.fake_trajectory(10, 1)
traj.reduce_to_ids([0, 2])
self.assertEqual(traj.num_poses, 2)
self.assertEqual(len(traj.timestamps), 2)
def test_no_matches_due_to_offset(self):
traj_1 = helpers.fake_trajectory(10, 0.1, start_time=0.)
traj_2 = helpers.fake_trajectory(10, 0.1, start_time=2.)
with self.assertRaises(sync.SyncException):
sync.associate_trajectories(traj_1, traj_2)
def test_origin_alignment(self):
traj_1 = helpers.fake_trajectory(1000, 1)
traj_2 = helpers.fake_trajectory(1000, 1)
self.assertFalse(np.allclose(traj_1.poses_se3[0], traj_2.poses_se3[0]))
traj_2 = trajectory.align_trajectory_origin(traj_2, traj_1)
self.assertTrue(np.allclose(traj_1.poses_se3[0], traj_2.poses_se3[0]))
def test_get_statistics(self):
helpers.fake_trajectory(10, 1).get_statistics()
