From 65a6d06bf170206779ab82b301a0b95354ee07f0 Mon Sep 17 00:00:00 2001 From: Sushmita Date: Sun, 1 Nov 2020 21:29:38 -0500 Subject: [PATCH] sfmtrack constructor changed to accept point --- python/gtsam/preamble.h | 2 +- python/gtsam/tests/test_SfmData.py | 10 ++++++---- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/python/gtsam/preamble.h b/python/gtsam/preamble.h index e31b5e6d8..6166f615e 100644 --- a/python/gtsam/preamble.h +++ b/python/gtsam/preamble.h @@ -9,4 +9,4 @@ PYBIND11_MAKE_OPAQUE(std::vector); PYBIND11_MAKE_OPAQUE(std::vector > >); PYBIND11_MAKE_OPAQUE(std::vector > >); -PYBIND11_MAKE_OPAQUE(std::vector); \ No newline at end of file +PYBIND11_MAKE_OPAQUE(std::vector); diff --git a/python/gtsam/tests/test_SfmData.py b/python/gtsam/tests/test_SfmData.py index 51564fb6f..9c965ddc5 100644 --- a/python/gtsam/tests/test_SfmData.py +++ b/python/gtsam/tests/test_SfmData.py @@ -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)