def test_get_points_within_radius_of_cameras():
    'Verify that points that fall outside of 10 meter radius of two camera poses.\n\n    Cameras are placed at (0,0,0) and (10,0,0).\n    '
    wTi0 = Pose3(Rot3(), np.zeros(3))
    wTi1 = Pose3(Rot3(), np.array([10.0, 0, 0]))
    wTi_list = [wTi0, wTi1]
    points_3d = np.array([[(- 15), 0, 0], [0, 15, 0], [(- 5), 0, 0], [15, 0, 0], [25, 0, 0]])
    radius = 10.0
    nearby_points_3d = geometry_comparisons.get_points_within_radius_of_cameras(wTi_list, points_3d, radius)
    expected_nearby_points_3d = np.array([[(- 5), 0, 0], [15, 0, 0]])
    np.testing.assert_allclose(nearby_points_3d, expected_nearby_points_3d)
Verify that points that fall outside of 10 meter radius of two camera poses.

Cameras are placed at (0,0,0) and (10,0,0).
def test_get_points_within_radius_of_cameras():
    'Verify that points that fall outside of 10 meter radius of two camera poses.\n\n    Cameras are placed at (0,0,0) and (10,0,0).\n    '
    wTi0 = Pose3(Rot3(), np.zeros(3))
    wTi1 = Pose3(Rot3(), np.array([10.0, 0, 0]))
    wTi_list = [wTi0, wTi1]
    points_3d = np.array([[(- 15), 0, 0], [0, 15, 0], [(- 5), 0, 0], [15, 0, 0], [25, 0, 0]])
    radius = 10.0
    nearby_points_3d = geometry_comparisons.get_points_within_radius_of_cameras(wTi_list, points_3d, radius)
    expected_nearby_points_3d = np.array([[(- 5), 0, 0], [15, 0, 0]])
    np.testing.assert_allclose(nearby_points_3d, expected_nearby_points_3d)