Python Tests

pycunls tests are written with pytest and live in python/tests/.

Prerequisites

Install the test dependencies:

cd python
pip install ".[test]"

This installs pytest, cupy-cuda12x, and warp-lang.

Run all tests

cd python
pytest tests/ -v

Run a specific test module

pytest tests/test_minimizer.py -v
pytest tests/test_warp_factor.py -v

Test modules

Module	Coverage
test_cupy_interop.py	CuPy array and raw pointer interop with pycunls constructors.
test_state_batches.py	State batch creation, block pointer access, and constant-state marking for all Euclidean and Lie group state types.
test_factor_batches.py	Built-in factor batch creation and connectivity for all factor types (priors, between, reprojection, ICP).
test_minimizer.py	End-to-end Gauss-Newton and Levenberg-Marquardt solves on small problems; verifies cost reduction and convergence.
test_loss_functions.py	All robust loss function batches (Huber, Cauchy, Arctan, SoftLOne, Tolerant, Tukey, Trivial, Scaled).
test_warp_factor.py	Custom WarpFactorBatch subclass end-to-end test.
test_warp_state.py	Custom WarpStateBatch subclass end-to-end test.