From 2d170e4cace4e008c9547c029488d9fb1f66be11 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Mon, 28 Oct 2024 12:15:50 -0700 Subject: [PATCH] Fix wrapper --- gtsam/geometry/geometry.i | 2 +- python/gtsam/tests/test_FundamentalMatrix.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i index 3328a05bb..a90de48e5 100644 --- a/gtsam/geometry/geometry.i +++ b/gtsam/geometry/geometry.i @@ -911,7 +911,7 @@ class Cal3Bundler { class FundamentalMatrix { // Constructors FundamentalMatrix(); - FundamentalMatrix(const gtsam::Rot3& U, double s, const gtsam::Rot3& V); + FundamentalMatrix(const gtsam::Matrix3& U, double s, const gtsam::Matrix3& V); FundamentalMatrix(const gtsam::Matrix3& F); // Overloaded constructors for specific calibration types diff --git a/python/gtsam/tests/test_FundamentalMatrix.py b/python/gtsam/tests/test_FundamentalMatrix.py index 4e6efc99d..9f486c298 100644 --- a/python/gtsam/tests/test_FundamentalMatrix.py +++ b/python/gtsam/tests/test_FundamentalMatrix.py @@ -29,7 +29,7 @@ class TestFundamentalMatrix(unittest.TestCase): self.trueU = Rot3.Yaw(np.pi / 2) self.trueV = Rot3.Yaw(np.pi / 4) self.trueS = 0.5 - self.trueF = FundamentalMatrix(self.trueU, self.trueS, self.trueV) + self.trueF = FundamentalMatrix(self.trueU.matrix(), self.trueS, self.trueV.matrix()) def test_localCoordinates(self): expected = np.zeros(7) # Assuming 7 dimensions for U, V, and s