def test_align_poses_after_sim3_transform(self):
    'Test for alignment of poses after applying a SIM3 transformation.'
    translation_shift = np.array([5, 10, (- 5)])
    rotation_shift = Rot3.RzRyRx(0, 0, np.deg2rad(30))
    scaling_factor = 0.7
    transform = Similarity3(rotation_shift, translation_shift, scaling_factor)
    ref_list = [transform.transformFrom(x) for x in sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES]
    computed_poses = geometry_comparisons.align_poses_sim3(sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES, ref_list)
    self.__assert_equality_on_pose3s(computed_poses, sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES)
Test for alignment of poses after applying a SIM3 transformation.
def test_align_poses_after_sim3_transform(self):
    
    translation_shift = np.array([5, 10, (- 5)])
    rotation_shift = Rot3.RzRyRx(0, 0, np.deg2rad(30))
    scaling_factor = 0.7
    transform = Similarity3(rotation_shift, translation_shift, scaling_factor)
    ref_list = [transform.transformFrom(x) for x in sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES]
    computed_poses = geometry_comparisons.align_poses_sim3(sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES, ref_list)
    self.__assert_equality_on_pose3s(computed_poses, sample_poses.CIRCLE_TWO_EDGES_GLOBAL_POSES)