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remove unused imports

release/4.3a0
Varun Agrawal 2020-12-05 18:18:30 -05:00
parent d05f360c11
commit 3da2885831
1 changed files with 21 additions and 19 deletions
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40
python/gtsam/tests/test_Triangulation.py
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@ -10,14 +10,14 @@ Author: Frank Dellaert & Fan Jiang (Python)
"""
import unittest
import gtsam as g
import numpy as np
import gtsam
from gtsam import (Cal3_S2, Cal3Bundler, CameraSetCal3_S2,
CameraSetCal3Bundler, PinholeCameraCal3_S2,
PinholeCameraCal3Bundler, Point2Vector, Point3, Pose3,
Pose3Vector, Rot3, triangulatePoint3)
Pose3Vector, Rot3)
from gtsam.utils.test_case import GtsamTestCase
from numpy.core.records import array
class TestVisualISAMExample(GtsamTestCase):
@ -75,11 +75,11 @@ class TestVisualISAMExample(GtsamTestCase):
PinholeCameraCal3_S2,
(sharedCal, sharedCal))
triangulated_landmark = triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements,
rank_tol=1e-9,
optimize=True)
triangulated_landmark = gtsam.triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
# Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
@ -87,11 +87,11 @@ class TestVisualISAMExample(GtsamTestCase):
measurements_noisy.append(measurements[0] - np.array([0.1, 0.5]))
measurements_noisy.append(measurements[1] - np.array([-0.2, 0.3]))
triangulated_landmark = triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements_noisy,
rank_tol=1e-9,
optimize=True)
triangulated_landmark = gtsam.triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements_noisy,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-2)
@ -106,8 +106,10 @@ class TestVisualISAMExample(GtsamTestCase):
(K1, K2),
camera_set=CameraSetCal3_S2)
triangulated_landmark = triangulatePoint3(
cameras, measurements, rank_tol=1e-9, optimize=True)
triangulated_landmark = gtsam.triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
def test_distinct_Ks_Bundler(self):
@ -121,10 +123,10 @@ class TestVisualISAMExample(GtsamTestCase):
(K1, K2),
camera_set=CameraSetCal3Bundler)
triangulated_landmark = triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
triangulated_landmark = gtsam.triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)