update test for ISAM

python/gtsam/tests/test_VisualISAMExample.py

@@ -10,9 +10,6 @@ Author: Frank Dellaert & Duy Nguyen Ta (Python)
 """
 import unittest
 
-import numpy as np
-
-import gtsam
 import gtsam.utils.visual_data_generator as generator
 import gtsam.utils.visual_isam as visual_isam
 from gtsam import symbol
@@ -20,8 +17,9 @@ from gtsam.utils.test_case import GtsamTestCase
 
 
 class TestVisualISAMExample(GtsamTestCase):
-
+    """Test class for ISAM2 with visual landmarks."""
     def test_VisualISAMExample(self):
+        """Test to see if ISAM works as expected for a simple visual SLAM example."""
         # Data Options
         options = generator.Options()
         options.triangle = False
@@ -39,19 +37,22 @@ class TestVisualISAMExample(GtsamTestCase):
         data, truth = generator.generate_data(options)
 
         # Initialize iSAM with the first pose and points
-        isam, result, nextPose = visual_isam.initialize(data, truth, isamOptions)
+        isam, result, nextPose = visual_isam.initialize(
+            data, truth, isamOptions)
 
         # Main loop for iSAM: stepping through all poses
         for currentPose in range(nextPose, options.nrCameras):
-            isam, result = visual_isam.step(data, isam, result, truth, currentPose)
+            isam, result = visual_isam.step(data, isam, result, truth,
+                                            currentPose)
 
-        for i in range(len(truth.cameras)):
+        for i, _ in enumerate(truth.cameras):
             pose_i = result.atPose3(symbol('x', i))
             self.gtsamAssertEquals(pose_i, truth.cameras[i].pose(), 1e-5)
 
-        for j in range(len(truth.points)):
+        for j, _ in enumerate(truth.points):
             point_j = result.atPoint3(symbol('l', j))
             self.gtsamAssertEquals(point_j, truth.points[j], 1e-5)
 
+
 if __name__ == "__main__":
     unittest.main()