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Rename in tests
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@ayushbaid
ayushbaid committed Feb 20, 2024
1 parent f57babe commit edf764e
Showing 1 changed file with 30 additions and 78 deletions.
108 changes: 30 additions & 78 deletions tests/averaging/rotation/test_uncertainity_aware.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
Authors: Ayush Baid, John Lambert
"""

import pickle
import unittest
from typing import Dict, List, Tuple
Expand All @@ -13,7 +14,7 @@
import gtsfm.utils.geometry_comparisons as geometry_comparisons
import tests.data.sample_poses as sample_poses
from gtsfm.averaging.rotation.rotation_averaging_base import RotationAveragingBase
from gtsfm.averaging.rotation.uncertainity_aware_rotation_averaging import UncertainityAwareRotationAveraging
from gtsfm.averaging.rotation.uncertainty_aware_rotation_averaging import UncertaintyAwareRotationAveraging
from gtsfm.common.pose_prior import PosePrior, PosePriorType

ROTATION_ANGLE_ERROR_THRESHOLD_DEG = 2
Expand All @@ -28,7 +29,7 @@ class TestUncertainityAwareRotationAveraging(unittest.TestCase):
def setUp(self):
super().setUp()

self.obj: RotationAveragingBase = UncertainityAwareRotationAveraging()
self.obj: RotationAveragingBase = UncertaintyAwareRotationAveraging()

def __execute_test(self, i2Ri1_input: Dict[Tuple[int, int], Rot3], wRi_expected: List[Rot3]) -> None:
"""Helper function to run the averagaing and assert w/ expected.
Expand Down Expand Up @@ -87,92 +88,43 @@ def test_simple(self):

self.__execute_test(i2Ri1_dict, expected_wRi_list)

# def test_simple_with_prior(self):
# """Test a simple case with 1 measurement and a single pose prior."""
# expected_wRi_list = [Rot3.RzRyRx(0, 0, 0), Rot3.RzRyRx(0, np.deg2rad(30), 0), Rot3.RzRyRx(np.deg2rad(30), 0, 0)]

# i2Ri1_dict = {
# (1, 0): Rot3.RzRyRx(0, np.deg2rad(30), 0),
# }

# expected_0R2 = expected_wRi_list[0].between(expected_wRi_list[2])
# i1Ti2_priors = {
# (0, 2): PosePrior(
# value=Pose3(expected_0R2, np.zeros((3,))),
# covariance=np.eye(6) * 1e-5,
# type=PosePriorType.SOFT_CONSTRAINT,
# )
# }

# wRi_computed = self.obj.run_rotation_averaging(len(expected_wRi_list), i2Ri1_dict, i1Ti2_priors)
# self.assertTrue(
# geometry_comparisons.compare_rotations(wRi_computed, expected_wRi_list, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
# )

# def test_computation_graph(self):
# """Test the dask computation graph execution using a valid collection of relative poses."""
def test_computation_graph(self):
"""Test the dask computation graph execution using a valid collection of relative poses."""

# num_poses = 3
num_poses = 3

# i2Ri1_dict = {
# (0, 1): Rot3.RzRyRx(0, np.deg2rad(30), 0),
# (1, 2): Rot3.RzRyRx(0, 0, np.deg2rad(20)),
# }
i2Ri1_dict = {
(0, 1): Rot3.RzRyRx(0, np.deg2rad(30), 0),
(1, 2): Rot3.RzRyRx(0, 0, np.deg2rad(20)),
}

# i2Ri1_graph = dask.delayed(i2Ri1_dict)
i2Ri1_graph = dask.delayed(i2Ri1_dict)

# # use the GTSAM API directly (without dask) for rotation averaging
# i1Ti2_priors: Dict[Tuple[int, int], PosePrior] = {}
# expected_wRi_list = self.obj.run_rotation_averaging(num_poses, i2Ri1_dict, i1Ti2_priors)
# use the GTSAM API directly (without dask) for rotation averaging
i1Ti2_priors: Dict[Tuple[int, int], PosePrior] = {}
expected_wRi_list = self.obj.run_rotation_averaging(num_poses, i2Ri1_dict, i1Ti2_priors)

# # use dask's computation graph
# gt_wTi_list = [None] * len(expected_wRi_list)
# rotations_graph, _ = self.obj.create_computation_graph(num_poses, i2Ri1_graph, i1Ti2_priors, gt_wTi_list)
# use dask's computation graph
gt_wTi_list = [None] * len(expected_wRi_list)
rotations_graph, _ = self.obj.create_computation_graph(num_poses, i2Ri1_graph, i1Ti2_priors, gt_wTi_list)

# with dask.config.set(scheduler="single-threaded"):
# wRi_list = dask.compute(rotations_graph)[0]
with dask.config.set(scheduler="single-threaded"):
wRi_list = dask.compute(rotations_graph)[0]

# # compare the two results
# self.assertTrue(
# geometry_comparisons.compare_rotations(wRi_list, expected_wRi_list, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
# )
# compare the two results
self.assertTrue(
geometry_comparisons.compare_rotations(wRi_list, expected_wRi_list, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
)

# def test_pickleable(self):
# """Tests that the object is pickleable (required for dask)."""

# try:
# pickle.dumps(self.obj)
# except TypeError:
# self.fail("Cannot dump rotation averaging object using pickle")

# def test_nonconsecutive_indices(self):
# """Run rotation averaging on a graph with indices that are not ordered as [0,...,N-1].

# Note: Test would fail if Shonan keys were not temporarily re-ordered inside the implementation.
# See https://github.com/borglab/gtsam/issues/784
# """
# num_images = 4

# # assume pose 0 is orphaned in the visibility graph
# # Let wTi0's (R,t) be parameterized as identity Rot3(), and t = [1,1,0]
# wTi1 = Pose3(Rot3(), np.array([3, 1, 0]))
# wTi2 = Pose3(Rot3(), np.array([3, 3, 0]))
# wTi3 = Pose3(Rot3(), np.array([1, 3, 0]))

# # generate i2Ri1 rotations
# # (i1,i2) -> i2Ri1
# i2Ri1_input = {
# (1, 2): wTi2.between(wTi1).rotation(),
# (2, 3): wTi3.between(wTi2).rotation(),
# (1, 3): wTi3.between(wTi1).rotation(),
# }

# relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {}
# wRi_computed = self.obj.run_rotation_averaging(num_images, i2Ri1_input, relative_pose_priors)
# wRi_expected = [None, wTi1.rotation(), wTi2.rotation(), wTi3.rotation()]
# self.assertTrue(
# geometry_comparisons.compare_rotations(wRi_computed, wRi_expected, angular_error_threshold_degrees=0.1)
# )
def test_pickleable(self):
"""Tests that the object is pickleable (required for dask)."""

try:
pickle.dumps(self.obj)
except TypeError:
self.fail("Cannot dump rotation averaging object using pickle")


if __name__ == "__main__":
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