44 lines
1.5 KiB
Python
44 lines
1.5 KiB
Python
import sys, os, tempfile
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import numpy as np
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import h5py
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import pytest
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sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
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def _make_test_h5(path, n_poses=100):
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T = np.tile(np.eye(4), (n_poses, 1, 1)).astype(np.float64)
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for i in range(n_poses):
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T[i, 0, 3] = float(i) * 0.1
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with h5py.File(path, "w") as f:
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pw = f.create_group("poses_world")
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pw.create_dataset("T_4x4", data=T)
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pw.create_dataset("t_ns", data=np.arange(n_poses, dtype=np.int64) * int(1e8))
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f.attrs["status"] = "aligned"
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def test_load_world_poses_returns_n_transforms():
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from scripts.stitch import _load_world_poses
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with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as tmp:
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path = tmp.name
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try:
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_make_test_h5(path, n_poses=100)
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transforms = _load_world_poses(path, 4)
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assert len(transforms) == 4
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assert np.allclose(transforms[0], np.eye(4), atol=1e-6), "T_0 must be identity"
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assert not np.allclose(transforms[1], np.eye(4)), "T_1 must differ from identity"
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for T in transforms:
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assert T.shape == (4, 4)
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finally:
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os.unlink(path)
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def test_load_world_poses_single_ply():
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from scripts.stitch import _load_world_poses
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with tempfile.NamedTemporaryFile(suffix=".h5", delete=False) as tmp:
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path = tmp.name
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try:
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_make_test_h5(path, n_poses=10)
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transforms = _load_world_poses(path, 1)
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assert len(transforms) == 1
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assert np.allclose(transforms[0], np.eye(4), atol=1e-6)
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finally:
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os.unlink(path)
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