def test_panorama(self):
"""Test for 3 poses in a panorama configuration (large rotations at the same location)"""
i2Ri1_dict, wRi_expected = sample_poses.convert_data_for_rotation_averaging(
sample_poses.PANORAMA_GLOBAL_POSES,
sample_poses.PANORAMA_RELATIVE_POSES)
self.__execute_test(i2Ri1_dict, wRi_expected)
def test_circle_all_edges(self):
"""Test for 4 poses in a circle, with a pose connected all others."""
i2Ri1_dict, wRi_expected = sample_poses.convert_data_for_rotation_averaging(
sample_poses.CIRCLE_ALL_EDGES_GLOBAL_POSES,
sample_poses.CIRCLE_ALL_EDGES_RELATIVE_POSES)
self.__execute_test(i2Ri1_dict, wRi_expected)
def test_line_large_edges(self):
"""Test for 3 poses in a line, with large translations between them."""
i2Ri1_dict, wRi_expected = sample_poses.convert_data_for_rotation_averaging(
sample_poses.LINE_LARGE_EDGES_GLOBAL_POSES,
sample_poses.LINE_LARGE_EDGES_RELATIVE_POSES)
self.__execute_test(i2Ri1_dict, wRi_expected)
def test_circle_two_edges(self):
"""Test for 4 poses in a circle, with a pose connected to its immediate neighborhood."""
i2Ri1_dict, wRi_expected = sample_poses.convert_data_for_rotation_averaging(
sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES,
sample_poses.CIRCLE_TWO_EDGES_RELATIVE_POSES)
self.__execute_test(i2Ri1_dict, wRi_expected)