def test_stereo_camera_attributes_smoke(batch_size, device, dtype):
        """Test proper setup of the class for smoke data."""
        tx_fx = -10
        left_rectified_camera, right_rectified_camera = _SmokeTestData._create_stereo_camera(
            batch_size, device, dtype, tx_fx
        )

        stereo_camera = StereoCamera(left_rectified_camera, right_rectified_camera)

        def _assert_all(x, y):
            assert torch.all(torch.eq(x, y))

        _assert_all(stereo_camera.fx, _TestParams.fx)
        _assert_all(stereo_camera.fy, _TestParams.fy)
        _assert_all(stereo_camera.cx_left, _TestParams.cx)
        _assert_all(stereo_camera.cy, _TestParams.cy)
        _assert_all(stereo_camera.tx, -tx_fx / _TestParams.fx)

        assert stereo_camera.Q.shape == (batch_size, 4, 4)
        assert stereo_camera.Q.dtype in (torch.float16, torch.float32, torch.float64)
Test proper setup of the class for smoke data.
tests/geometry/camera/test_stereo.py