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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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18
python/gtsam/tests/test_Triangulation.py
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@ -10,14 +10,14 @@ Author: Frank Dellaert & Fan Jiang (Python)
""" """
import unittest import unittest
import gtsam as g
import numpy as np import numpy as np
import gtsam
from gtsam import (Cal3_S2, Cal3Bundler, CameraSetCal3_S2, from gtsam import (Cal3_S2, Cal3Bundler, CameraSetCal3_S2,
CameraSetCal3Bundler, PinholeCameraCal3_S2, CameraSetCal3Bundler, PinholeCameraCal3_S2,
PinholeCameraCal3Bundler, Point2Vector, Point3, Pose3, PinholeCameraCal3Bundler, Point2Vector, Point3, Pose3,
Pose3Vector, Rot3, triangulatePoint3) Pose3Vector, Rot3)
from gtsam.utils.test_case import GtsamTestCase from gtsam.utils.test_case import GtsamTestCase
from numpy.core.records import array
class TestVisualISAMExample(GtsamTestCase): class TestVisualISAMExample(GtsamTestCase):
@ -75,7 +75,7 @@ class TestVisualISAMExample(GtsamTestCase):
PinholeCameraCal3_S2, PinholeCameraCal3_S2,
(sharedCal, sharedCal)) (sharedCal, sharedCal))
triangulated_landmark = triangulatePoint3(self.poses, triangulated_landmark = gtsam.triangulatePoint3(self.poses,
Cal3_S2(sharedCal), Cal3_S2(sharedCal),
measurements, measurements,
rank_tol=1e-9, rank_tol=1e-9,
@ -87,7 +87,7 @@ class TestVisualISAMExample(GtsamTestCase):
measurements_noisy.append(measurements[0] - np.array([0.1, 0.5])) measurements_noisy.append(measurements[0] - np.array([0.1, 0.5]))
measurements_noisy.append(measurements[1] - np.array([-0.2, 0.3])) measurements_noisy.append(measurements[1] - np.array([-0.2, 0.3]))
triangulated_landmark = triangulatePoint3(self.poses, triangulated_landmark = gtsam.triangulatePoint3(self.poses,
Cal3_S2(sharedCal), Cal3_S2(sharedCal),
measurements_noisy, measurements_noisy,
rank_tol=1e-9, rank_tol=1e-9,
@ -106,8 +106,10 @@ class TestVisualISAMExample(GtsamTestCase):
(K1, K2), (K1, K2),
camera_set=CameraSetCal3_S2) camera_set=CameraSetCal3_S2)
triangulated_landmark = triangulatePoint3( triangulated_landmark = gtsam.triangulatePoint3(cameras,
cameras, measurements, rank_tol=1e-9, optimize=True) measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9) self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
def test_distinct_Ks_Bundler(self): def test_distinct_Ks_Bundler(self):
@ -121,7 +123,7 @@ class TestVisualISAMExample(GtsamTestCase):
(K1, K2), (K1, K2),
camera_set=CameraSetCal3Bundler) camera_set=CameraSetCal3Bundler)
triangulated_landmark = triangulatePoint3(cameras, triangulated_landmark = gtsam.triangulatePoint3(cameras,
measurements, measurements,
rank_tol=1e-9, rank_tol=1e-9,
optimize=True) optimize=True)