Release KITTI-C2L v1.0.0: documented self-contained benchmark, loader and baselines
db613b6 verified | from __future__ import annotations | |
| from kitti_c2l.decalibration import sample_dual_decalibration | |
| from kitti_c2l.geometry import matrix_to_euler_deg | |
| from kitti_c2l.stages import STAGES | |
| def test_sampled_values_within_stage_bounds(): | |
| for stage in STAGES: | |
| for seed in range(10): | |
| dual = sample_dual_decalibration(seed, stage) | |
| for decal in (dual.lidar, dual.camera): | |
| assert (abs(decal.euler_deg) <= stage.max_rotation_deg + 1e-6).all() | |
| assert (abs(decal.translation_cm) <= stage.max_translation_cm + 1e-6).all() | |
| euler_from_matrix = matrix_to_euler_deg(decal.rotation) | |
| assert (abs(euler_from_matrix) <= stage.max_rotation_deg + 1e-3).all() | |
| def test_lidar_and_camera_draws_are_independent(): | |
| dual = sample_dual_decalibration(seed=42, stage=STAGES[0]) | |
| assert not (dual.lidar.euler_deg == dual.camera.euler_deg).all() | |
| assert not (dual.lidar.translation_cm == dual.camera.translation_cm).all() | |
| def test_same_seed_reproducible(): | |
| first = sample_dual_decalibration(seed=123, stage=STAGES[2]) | |
| second = sample_dual_decalibration(seed=123, stage=STAGES[2]) | |
| assert (first.lidar.euler_deg == second.lidar.euler_deg).all() | |
| assert (first.camera.translation_cm == second.camera.translation_cm).all() | |
| def test_different_seeds_differ(): | |
| a = sample_dual_decalibration(seed=1, stage=STAGES[0]) | |
| b = sample_dual_decalibration(seed=2, stage=STAGES[0]) | |
| assert not (a.lidar.euler_deg == b.lidar.euler_deg).all() | |