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sfmtrack constructor changed to accept point

release/4.3a0
Sushmita 2020-11-01 21:29:38 -05:00
parent ee0eefbc86
commit 65a6d06bf1
2 changed files with 7 additions and 5 deletions
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2
python/gtsam/preamble.h
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@ -9,4 +9,4 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);

10
python/gtsam/tests/test_SfmData.py
View File

@ -27,7 +27,7 @@ class TestSfmData(GtsamTestCase):
"""Initialize SfmData and SfmTrack"""
self.data = gtsam.SfmData()
# initialize SfmTrack with 3D point
self.tracks = gtsam.SfmTrack(gtsam.Point3(2.5, 3.3, 1.2))
self.tracks = gtsam.SfmTrack()
def test_tracks(self):
"""Test functions in SfmTrack"""
@ -47,7 +47,7 @@ class TestSfmData(GtsamTestCase):
cam_idx, img_measurement = self.tracks.measurement(0)
self.assertEqual(cam_idx, i1)
np.testing.assert_array_almost_equal(
gtsam.Point3(2.5,3.3,1.2),
gtsam.Point3(0.,0.,0.),
self.tracks.point3()
)
@ -55,13 +55,15 @@ class TestSfmData(GtsamTestCase):
def test_data(self):
"""Test functions in SfmData"""
# Create new track with 3 measurements
track2 = gtsam.SfmTrack()
i1, i2, i3 = 3,5,6
uv_i1 = gtsam.Point2(21.23, 45.64)
# translating along X-axis
uv_i2 = gtsam.Point2(45.7, 45.64)
uv_i3 = gtsam.Point2(68.35, 45.64)
# add measurements to the track
# add measurements and arbitrary point to the track
measurements = [(i1, uv_i1), (i2, uv_i2), (i3, uv_i3)]
pt = gtsam.Point3(1.0, 6.0, 2.0)
track2 = gtsam.SfmTrack(pt)
track2.add_measurement(i1, uv_i1)
track2.add_measurement(i2, uv_i2)
track2.add_measurement(i3, uv_i3)