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removed typedef and formatted code

release/4.3a0
Sushmita 2020-12-05 12:07:39 -05:00
parent 8be6890b20
commit 44d1d69274
2 changed files with 10 additions and 12 deletions
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4
gtsam/gtsam.i
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@ -1112,10 +1112,6 @@ namespace gtsam
void push_back(const T &cam); void push_back(const T &cam);
}; };
// typedefs added here for shorter type name and to enforce uniformity in naming conventions
//typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;
//typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler;
#include <gtsam/geometry/StereoCamera.h> #include <gtsam/geometry/StereoCamera.h>
class StereoCamera class StereoCamera
{ {

18
python/gtsam/tests/test_Triangulation.py
View File

@ -45,10 +45,11 @@ class TestVisualISAMExample(GtsamTestCase):
camera_model: Camera model e.g. PinholeCameraCal3_S2 camera_model: Camera model e.g. PinholeCameraCal3_S2
cal_params: (list of) camera parameters e.g. K1, K2 cal_params: (list of) camera parameters e.g. K1, K2
Returns: Returns:
vector of measurements and cameras list of measurements and cameras
""" """
cameras = [] cameras = []
measurements = Point2Vector() measurements = Point2Vector()
for k, pose in zip(cal_params, self.poses): for k, pose in zip(cal_params, self.poses):
K = calibration(*k) K = calibration(*k)
camera = camera_model(pose, K) camera = camera_model(pose, K)
@ -63,22 +64,23 @@ class TestVisualISAMExample(GtsamTestCase):
""" Tests triangulation with shared Cal3_S2 calibration""" """ Tests triangulation with shared Cal3_S2 calibration"""
# Some common constants # Some common constants
sharedCal = (1500, 1200, 0, 640, 480) sharedCal = (1500, 1200, 0, 640, 480)
measurements, _ = self.generate_measurements(Cal3_S2, PinholeCameraCal3_S2, sharedCal, sharedCal) measurements, _ = self.generate_measurements(Cal3_S2, PinholeCameraCal3_S2, sharedCal, sharedCal)
triangulated_landmark = triangulatePoint3(self.poses,Cal3_S2(sharedCal), measurements, rank_tol=1e-9, optimize=True) triangulated_landmark = triangulatePoint3(self.poses, Cal3_S2(sharedCal), measurements, rank_tol=1e-9, optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9) self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
# 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814) # Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
measurements_noisy = Point2Vector() measurements_noisy = Point2Vector()
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,Cal3_S2(sharedCal), measurements_noisy, rank_tol=1e-9, optimize=True) triangulated_landmark = triangulatePoint3(self.poses, Cal3_S2(sharedCal), measurements_noisy, rank_tol=1e-9, optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark,1e-2) self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-2)
def test_distinct_Ks(self): def test_distinct_Ks(self):
""" Tests triangulation with individual Cal3_S2 calibrations """ """ Tests triangulation with individual Cal3_S2 calibrations """
# two cameras # two camera parameters
K1 = (1500, 1200, 0, 640, 480) K1 = (1500, 1200, 0, 640, 480)
K2 = (1600, 1300, 0, 650, 440) K2 = (1600, 1300, 0, 650, 440)
@ -94,7 +96,7 @@ class TestVisualISAMExample(GtsamTestCase):
def test_distinct_Ks_Bundler(self): def test_distinct_Ks_Bundler(self):
""" Tests triangulation with individual Cal3Bundler calibrations""" """ Tests triangulation with individual Cal3Bundler calibrations"""
# two cameras # two camera parameters
K1 = (1500, 0, 0, 640, 480) K1 = (1500, 0, 0, 640, 480)
K2 = (1600, 0, 0, 650, 440) K2 = (1600, 0, 0, 650, 440)