def test_cam1_to_cam2_tf_lookup_is_correct(self):
cam1 = Value(self.sequence, 0, 'cam1')
cam2 = Value(self.sequence, 0, 'cam2')
expected_transform = np.array([[0.0, -1.0, 0.0, 0.0],
[1.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.5],
[0.0, 0.0, 0.0, 1.0]])
actual_transform = cam1 >> cam2
self.assertTrue(np.allclose(actual_transform, expected_transform))
def test_cam2_to_imu_tf_lookup_is_correct(self):
cam2 = Value(self.sequence, 0, 'cam2')
imu = Value(self.sequence, 0, 'imu')
expected_transform = np.array([[0.0, 1.0, 0.0, 0.3],
[-1.0, 0.0, 0.0, -0.2],
[0.0, 0.0, 1.0, -0.1],
[0.0, 0.0, 0.0, 1.0]])
actual_transform1 = cam2 >> imu
actual_transform2 = imu << cam2
self.assertTrue(np.allclose(actual_transform1, expected_transform))
self.assertTrue(np.allclose(actual_transform2, expected_transform))
def test_tf_lookup_with_list_type_raises_type_error(self):
value = Value(self.sequence, 0, 'cam1')
with self.assertRaises(TypeError):
value >> ['hello', 'world']
with self.assertRaises(TypeError):
value << ['hello', 'world']
def test_self_tf_lookup_is_correct(self):
cam1 = Value(self.sequence, 0, 'cam1')
identity = cam1 >> 'cam1'
self.assertTrue(np.allclose(identity, np.eye(4)))
def test_tf_lookup_with_int_type_raises_type_error(self):
value = Value(self.sequence, 0, 'cam1')
with self.assertRaises(TypeError):
value >> 17
with self.assertRaises(TypeError):
value << 17
def test_wrong_reference_raises_value_error(self):
value = Value(self.sequence, 14.145, 'cam1')
with self.assertRaises(ValueError):
value >> 'some unknown frame'
with self.assertRaises(ValueError):
value << 'some unknown frame'
def test_stamp_set_correctly(self):
value = Value(self.sequence, 14.145, 'cam1')
self.assertEqual(value.stamp, 14.145)
def test_reference_set_correctly(self):
value = Value(self.sequence, 14.145, 'cam1')
self.assertEqual(value.reference, 'cam1')
def test_unknown_reference_raises_value_error(self):
with self.assertRaises(ValueError):
Value(self.sequence, 0, 'some unknown frame')