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Fix FindKarcherMean tests

release/4.3a0
Frank Dellaert 2025-04-26 22:40:03 -04:00
parent 502ff2762b
commit 513bbb43ed
2 changed files with 6 additions and 6 deletions
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6
python/gtsam/tests/test_KarcherMeanFactor.py
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@ -35,7 +35,7 @@ class TestKarcherMean(GtsamTestCase):
""" """
rotations = [R, R.inverse()] rotations = [R, R.inverse()]
expected = Rot3() expected = Rot3()
actual = gtsam.FindKarcherMean(rotations) actual = gtsam.FindKarcherMeanRot3(rotations)
self.gtsamAssertEquals(expected, actual) self.gtsamAssertEquals(expected, actual)
def test_find_karcher_mean_identity(self): def test_find_karcher_mean_identity(self):
@ -47,7 +47,7 @@ class TestKarcherMean(GtsamTestCase):
aRb_list = [a1Rb1, a2Rb2, a3Rb3] aRb_list = [a1Rb1, a2Rb2, a3Rb3]
aRb_expected = Rot3() aRb_expected = Rot3()
aRb = gtsam.FindKarcherMean(aRb_list) aRb = gtsam.FindKarcherMeanRot3(aRb_list)
self.gtsamAssertEquals(aRb, aRb_expected) self.gtsamAssertEquals(aRb, aRb_expected)
def test_factor(self): def test_factor(self):
@ -69,7 +69,7 @@ class TestKarcherMean(GtsamTestCase):
expected = Rot3() expected = Rot3()
result = gtsam.GaussNewtonOptimizer(graph, initial).optimize() result = gtsam.GaussNewtonOptimizer(graph, initial).optimize()
actual = gtsam.FindKarcherMean([result.atRot3(1), result.atRot3(2)]) actual = gtsam.FindKarcherMeanRot3([result.atRot3(1), result.atRot3(2)])
self.gtsamAssertEquals(expected, actual) self.gtsamAssertEquals(expected, actual)
self.gtsamAssertEquals(R12, result.atRot3(1).between(result.atRot3(2))) self.gtsamAssertEquals(R12, result.atRot3(1).between(result.atRot3(2)))

6
python/gtsam/tests/test_backwards_compatibility.py
View File

@ -315,7 +315,7 @@ class TestBackwardsCompatibility(GtsamTestCase):
rotations = gtsam.Rot3Vector([R, R.inverse()]) rotations = gtsam.Rot3Vector([R, R.inverse()])
expected = Rot3() expected = Rot3()
actual = gtsam.FindKarcherMean(rotations) actual = gtsam.FindKarcherMeanRot3(rotations)
self.gtsamAssertEquals(expected, actual) self.gtsamAssertEquals(expected, actual)
def test_find_karcher_mean_identity(self): def test_find_karcher_mean_identity(self):
@ -327,7 +327,7 @@ class TestBackwardsCompatibility(GtsamTestCase):
aRb_list = gtsam.Rot3Vector([a1Rb1, a2Rb2, a3Rb3]) aRb_list = gtsam.Rot3Vector([a1Rb1, a2Rb2, a3Rb3])
aRb_expected = Rot3() aRb_expected = Rot3()
aRb = gtsam.FindKarcherMean(aRb_list) aRb = gtsam.FindKarcherMeanRot3(aRb_list)
self.gtsamAssertEquals(aRb, aRb_expected) self.gtsamAssertEquals(aRb, aRb_expected)
def test_factor(self): def test_factor(self):
@ -354,7 +354,7 @@ class TestBackwardsCompatibility(GtsamTestCase):
expected = Rot3() expected = Rot3()
result = gtsam.GaussNewtonOptimizer(graph, initial).optimize() result = gtsam.GaussNewtonOptimizer(graph, initial).optimize()
actual = gtsam.FindKarcherMean( actual = gtsam.FindKarcherMeanRot3(
gtsam.Rot3Vector([result.atRot3(1), gtsam.Rot3Vector([result.atRot3(1),
result.atRot3(2)])) result.atRot3(2)]))
self.gtsamAssertEquals(expected, actual) self.gtsamAssertEquals(expected, actual)