def test_align_poses_on_panorama_after_sim3_transform(self):
    'Test for alignment of poses after applying a forward motion transformation.'
    translation_shift = np.array([0, 5, 0])
    rotation_shift = Rot3.RzRyRx(0, 0, np.deg2rad(30))
    scaling_factor = 1.0
    aTi_list = sample_poses.PANORAMA_GLOBAL_POSES
    bSa = Similarity3(rotation_shift, translation_shift, scaling_factor)
    bTi_list = [bSa.transformFrom(x) for x in aTi_list]
    aTi_list_ = geometry_comparisons.align_poses_sim3(aTi_list, bTi_list)
    self.__assert_equality_on_pose3s(aTi_list_, aTi_list)
Test for alignment of poses after applying a forward motion transformation.
def test_align_poses_on_panorama_after_sim3_transform(self):
    
    translation_shift = np.array([0, 5, 0])
    rotation_shift = Rot3.RzRyRx(0, 0, np.deg2rad(30))
    scaling_factor = 1.0
    aTi_list = sample_poses.PANORAMA_GLOBAL_POSES
    bSa = Similarity3(rotation_shift, translation_shift, scaling_factor)
    bTi_list = [bSa.transformFrom(x) for x in aTi_list]
    aTi_list_ = geometry_comparisons.align_poses_sim3(aTi_list, bTi_list)
    self.__assert_equality_on_pose3s(aTi_list_, aTi_list)