Merge pull request #311 from zivid/MISC-2024-12-10-test-hand-eye-low-dof-fix

johningve · web-flow · commit b05866c9a147 · 2024-12-10T15:57:04.000+01:00
Update test for low-DOF eye-in-hand calibration with correct function
diff --git a/test/experimental/test_hand_eye_low_dof.py b/test/experimental/test_hand_eye_low_dof.py
@@ -237,7 +237,7 @@ def test_eye_in_hand_low_dof_calibration_with_eye_to_hand_data(
         )
 
     calibration_board_pose = zivid.calibration.Pose(
-        np.linalg.inv(handeye_eth_low_dof_fixed_calibration_board_pose)
+        handeye_eth_low_dof_fixed_calibration_board_pose
     )
     fixed_calibration_board = (
         zivid.experimental.hand_eye_low_dof.FixedPlacementOfCalibrationBoard(
@@ -251,6 +251,6 @@ def test_eye_in_hand_low_dof_calibration_with_eye_to_hand_data(
     )
 
     with pytest.raises(RuntimeError):
-        _ = zivid.experimental.hand_eye_low_dof.calibrate_eye_to_hand_low_dof(
+        _ = zivid.experimental.hand_eye_low_dof.calibrate_eye_in_hand_low_dof(
             inputs, fixed_objects
         )

Original file line number	Diff line number	Diff line change
`@@ -237,7 +237,7 @@ def test_eye_in_hand_low_dof_calibration_with_eye_to_hand_data(`
`237`	`237`	`)`
`238`	`238`
`239`	`239`	`calibration_board_pose = zivid.calibration.Pose(`
`240`		`- np.linalg.inv(handeye_eth_low_dof_fixed_calibration_board_pose)`
	`240`	`+ handeye_eth_low_dof_fixed_calibration_board_pose`
`241`	`241`	`)`
`242`	`242`	`fixed_calibration_board = (`
`243`	`243`	`zivid.experimental.hand_eye_low_dof.FixedPlacementOfCalibrationBoard(`
`@@ -251,6 +251,6 @@ def test_eye_in_hand_low_dof_calibration_with_eye_to_hand_data(`
`251`	`251`	`)`
`252`	`252`
`253`	`253`	`with pytest.raises(RuntimeError):`
`254`		`- _ = zivid.experimental.hand_eye_low_dof.calibrate_eye_to_hand_low_dof(`
	`254`	`+ _ = zivid.experimental.hand_eye_low_dof.calibrate_eye_in_hand_low_dof(`
`255`	`255`	`inputs, fixed_objects`
`256`	`256`	`)`