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python wrapped SfmData and SfmTrack

release/4.3a0
Sushmita 2020-10-18 19:05:09 -04:00
parent ed387e3817
commit 1f09f4aab6
5 changed files with 17 additions and 17 deletions
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4
gtsam/slam/SmartFactorBase.h
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@ -144,8 +144,8 @@ protected:
template<class SFM_TRACK> template<class SFM_TRACK>
void add(const SFM_TRACK& trackToAdd) { void add(const SFM_TRACK& trackToAdd) {
for (size_t k = 0; k < trackToAdd.number_measurements(); k++) { for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
this->measured_.push_back(trackToAdd.measurements[k].second); this->measured_.push_back(trackToAdd.Measurements[k].second);
this->keys_.push_back(trackToAdd.measurements[k].first); this->keys_.push_back(trackToAdd.Measurements[k].first);
} }
} }

16
gtsam/slam/tests/testDataset.cpp
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@ -166,9 +166,9 @@ TEST( dataSet, Balbianello)
EXPECT_LONGS_EQUAL(3,track0.number_measurements()); EXPECT_LONGS_EQUAL(3,track0.number_measurements());
// Check projection of a given point // Check projection of a given point
EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
const SfmCamera& camera0 = mydata.cameras[0]; const SfmCamera& camera0 = mydata.cameras[0];
Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
EXPECT(assert_equal(expected,actual,1)); EXPECT(assert_equal(expected,actual,1));
} }
@ -476,9 +476,9 @@ TEST( dataSet, readBAL_Dubrovnik)
EXPECT_LONGS_EQUAL(3,track0.number_measurements()); EXPECT_LONGS_EQUAL(3,track0.number_measurements());
// Check projection of a given point // Check projection of a given point
EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
const SfmCamera& camera0 = mydata.cameras[0]; const SfmCamera& camera0 = mydata.cameras[0];
Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
EXPECT(assert_equal(expected,actual,12)); EXPECT(assert_equal(expected,actual,12));
} }
@ -557,8 +557,8 @@ TEST( dataSet, writeBAL_Dubrovnik)
// check measurements // check measurements
for (size_t k = 0; k < actualTrack.number_measurements(); k++){ for (size_t k = 0; k < actualTrack.number_measurements(); k++){
EXPECT_LONGS_EQUAL(expectedTrack.measurements[k].first,actualTrack.measurements[k].first); EXPECT_LONGS_EQUAL(expectedTrack.Measurements[k].first,actualTrack.Measurements[k].first);
EXPECT(assert_equal(expectedTrack.measurements[k].second,actualTrack.measurements[k].second)); EXPECT(assert_equal(expectedTrack.Measurements[k].second,actualTrack.Measurements[k].second));
} }
} }
} }
@ -600,9 +600,9 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
EXPECT_LONGS_EQUAL(3,track0.number_measurements()); EXPECT_LONGS_EQUAL(3,track0.number_measurements());
// Check projection of a given point // Check projection of a given point
EXPECT_LONGS_EQUAL(0,track0.measurements[0].first); EXPECT_LONGS_EQUAL(0,track0.Measurements[0].first);
const SfmCamera& camera0 = writtenData.cameras[0]; const SfmCamera& camera0 = writtenData.cameras[0];
Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second; Point2 expected = camera0.project(track0.p), actual = track0.Measurements[0].second;
EXPECT(assert_equal(expected,actual,12)); EXPECT(assert_equal(expected,actual,12));
Pose3 expectedPose = camera0.pose(); Pose3 expectedPose = camera0.pose();

8
gtsam/slam/tests/testEssentialMatrixFactor.cpp
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@ -46,10 +46,10 @@ EssentialMatrix trueE(trueRotation, trueDirection);
double baseline = 0.1; // actual baseline of the camera double baseline = 0.1; // actual baseline of the camera
Point2 pA(size_t i) { Point2 pA(size_t i) {
return data.tracks[i].measurements[0].second; return data.tracks[i].Measurements[0].second;
} }
Point2 pB(size_t i) { Point2 pB(size_t i) {
return data.tracks[i].measurements[1].second; return data.tracks[i].Measurements[1].second;
} }
Vector vA(size_t i) { Vector vA(size_t i) {
return EssentialMatrix::Homogeneous(pA(i)); return EssentialMatrix::Homogeneous(pA(i));
@ -367,10 +367,10 @@ EssentialMatrix trueE(aRb, Unit3(aTb));
double baseline = 10; // actual baseline of the camera double baseline = 10; // actual baseline of the camera
Point2 pA(size_t i) { Point2 pA(size_t i) {
return data.tracks[i].measurements[0].second; return data.tracks[i].Measurements[0].second;
} }
Point2 pB(size_t i) { Point2 pB(size_t i) {
return data.tracks[i].measurements[1].second; return data.tracks[i].Measurements[1].second;
} }
boost::shared_ptr<Cal3Bundler> // boost::shared_ptr<Cal3Bundler> //

4
gtsam/slam/tests/testSmartProjectionFactor.cpp
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@ -283,14 +283,14 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
SfmTrack track1; SfmTrack track1;
for (size_t i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
track1.measurements.emplace_back(i + 1, measurements_cam1.at(i)); track1.Measurements.emplace_back(i + 1, measurements_cam1.at(i));
} }
SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2)); SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2));
smartFactor1->add(track1); smartFactor1->add(track1);
SfmTrack track2; SfmTrack track2;
for (size_t i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
track2.measurements.emplace_back(i + 1, measurements_cam2.at(i)); track2.Measurements.emplace_back(i + 1, measurements_cam2.at(i));
} }
SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2)); SmartFactor::shared_ptr smartFactor2(new SmartFactor(unit2));
smartFactor2->add(track2); smartFactor2->add(track2);

2
tests/testGeneralSFMFactorB.cpp
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@ -50,7 +50,7 @@ TEST(PinholeCamera, BAL) {
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) { for (size_t j = 0; j < db.number_tracks(); j++) {
for (const SfmMeasurement& m: db.tracks[j].measurements) for (const SfmMeasurement& m: db.tracks[j].Measurements)
graph.emplace_shared<sfmFactor>(m.second, unit2, m.first, P(j)); graph.emplace_shared<sfmFactor>(m.second, unit2, m.first, P(j));
} }