1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
|
#!/usr/bin/env zsh
GREEN="\x1b[32m"
RED="\x1b[31m"
COLOR_RESET="\x1b[0m"
# The test suite no longer runs in parallel, but it ALWAYS tries to run all the
# tests, even without 'make -k'
TESTS=("test/test-pywrap-functions.py"
"test/test-pylib-projections.py"
"test/test-cameramodel.py"
"test/test-poseutils.py"
"test/test-poseutils-lib.py"
"test/test-poseutils-near-singularity.py"
"test/test-projections.py"
"test/test-projection--special-cases.py pinhole"
"test/test-projection--special-cases.py stereographic"
"test/test-projection--special-cases.py lonlat"
"test/test-projection--special-cases.py latlon"
"test/test-gradients.py"
"test/test-py-gradients.py"
"test/test-cahvor"
"test/test-optimizer-callback.py"
"test/test-sfm-fixed-points.py"
"test/test-sfm-regularization-unity-cam01.py"
"test/test-sfm-triangulated-points.py"
"test/test-basic-calibration.py"
"test/test-surveyed-calibration.py"
"test/test-surveyed-calibration.py --distance 8"
"test/test-surveyed-calibration.py --oversample 10"
"test/test-surveyed-calibration.py --do-sample"
"test/test-surveyed-calibration.py --do-sample --distance 8"
"test/test-surveyed-calibration.py --do-sample --oversample 10"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --do-sample"
"test/test-projection-uncertainty.py --fixed frames --model opencv4 --do-sample --Nsamples 200"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --do-sample --observed-pixel-uncertainty 0.3 --reproject-perturbed cross-reprojection-rrp-Jfp --Nsamples 200"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --do-sample --observed-pixel-uncertainty 0.03 --reproject-perturbed cross-reprojection-rrp-Jfp --points"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --do-sample --reproject-perturbed bestq --observed-pixel-uncertainty 0.3 --Nsamples 200"
"test/test-projection-uncertainty.py --fixed cam0 --model splined"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --Ncameras 1 --compare-baseline-against-mrcal-2.4"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --Ncameras 4 --compare-baseline-against-mrcal-2.4"
"test/test-linearizations.py"
"test/test-lensmodel-string-manipulation"
"test/test-CHOLMOD-factorization.py"
"test/test-projection-diff.py"
"test/test-graft-models.py"
"test/test-convert-lensmodel.py"
"test/test-stereo.py"
"test/test-solvepnp.py"
"test/test-match-feature.py"
"test/test-triangulation.py"
"test/test-uncertainty-broadcasting.py --q-calibration-stdev 0.3 --q-observation-stdev 0.3 --q-observation-stdev-correlation 0.5"
"test/test-parser-cameramodel"
"test/test-extrinsics-moved-since-calibration.py"
"test/test-broadcasting.py"
"test/test-compute-chessboard-corners-parsing.py"
"test/test-rectification-maps.py"
"test/test-save-load-image.py"
"test/test-worst_direction_stdev.py"
"test/test-propagate-calibration-uncertainty.py"
"test/test-heap"
"test/test-traverse-sensor-links.py"
"test/test-sorted-eig.py")
# Check the non-canonical problem definitions
TESTS+=("test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --Ncameras 1 --reproject-perturbed cross-reprojection-rrp-Jfp"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --Ncameras 1 --range-to-boards 4 --moving-camera"
"test/test-projection-uncertainty.py --fixed cam0 --model opencv4 --Ncameras 1 --range-to-boards 4 --moving-camera --reproject-perturbed bestq")
# triangulation-uncertainty tests. Lots and lots of tests to exhaustively try
# out different scenarios
BASE="test/test-triangulation-uncertainty.py --do-sample --model opencv4 --observed-point -40 0 200 --Ncameras 3 --cameras 2 1 --q-observation-stdev-correlation 0.6"
TESTS_TRIANGULATION_UNCERTAINTY=("$BASE "{--stabilize-coords,}" --fixed "{cam0,frames}" --q-"{observation,calibration}"-stdev 0.5")
# Both sets of noise. Looking at different camera
BASE="test/test-triangulation-uncertainty.py --do-sample --model opencv4 --Ncameras 2 --cameras 1 0 --q-observation-stdev 0.5 --q-calibration-stdev 0.5"
# Different amounts of correlation and near/far
TESTS_TRIANGULATION_UNCERTAINTY+=("$BASE "{--stabilize-coords,}" --fixed "{cam0,frames}" --q-observation-stdev-correlation "{0.1,0.9}" --observed-point "{"-2 0 10","-40 0 200"})
TESTS_external_data=("test/test-stereo-range.py")
# TESTS_TRIANGULATION_UNCERTAINTY not included in TESTS yet, so TESTS_NOSAMPLING
# includes none of those
TESTS_NOSAMPLING=(${TESTS:#*--do-sample*})
TESTS+=($TESTS_TRIANGULATION_UNCERTAINTY)
# TESTS_external_data is not included in any other set, and must be requested
# explicitly
# Define the set for each "make test-xxx" command
TESTS_all=($TESTS)
TESTS_nosampling=($TESTS_NOSAMPLING)
TESTS_triangulation_uncertainty=($TESTS_TRIANGULATION_UNCERTAINTY)
####### Everything defined. Parse the commandline and do the thing
# "test-all" is the full set of tests
# "test-nosampling" excludes the very time-consuming tests
# "test-external-data" is everything that needs data other than what's in the repo
if ((1 != $#)) {
echo "Usage: $0 TEST-TYPE\n Need exactly one argument" > /dev/stderr
exit 1
}
# downcase the argument, convert - -> _, remove leading "test-"
test_type=${${${(L)1}#test-}//-/_}
TESTS_name="TESTS_$test_type"
TESTS_selected=("${(@P)TESTS_name}")
Ntests=$#TESTS_selected
echo "Running $TESTS_name: $Ntests tests"
FAILED=()
for i ({1..$#TESTS_selected}) {
t=$TESTS_selected[i];
echo "========== Test $i/$Ntests: $t"
${=t} || FAILED+=($t)
}
if (( $#FAILED )) {
echo -n $RED
echo "$#FAILED TEST SETS FAILED:"
for t ($FAILED) { echo " $t" }
echo -n $COLOR_RESET
exit 1
} else {
echo -n $GREEN
echo "ALL TEST SETS PASSED!"
echo -n $COLOR_RESET
exit 0
}
|
