From 693f05b04a50e3cfaf1a13365e05dc2a297e58a4 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Sun, 17 Apr 2022 16:50:23 -0400
Subject: [PATCH] Use rations numbers in test

---
 python/gtsam/tests/test_PinholeCamera.py | 35 ++++++++----------------
 1 file changed, 12 insertions(+), 23 deletions(-)

diff --git a/python/gtsam/tests/test_PinholeCamera.py b/python/gtsam/tests/test_PinholeCamera.py
index ceed8638d..a5282d5b0 100644
--- a/python/gtsam/tests/test_PinholeCamera.py
+++ b/python/gtsam/tests/test_PinholeCamera.py
@@ -18,41 +18,30 @@ from gtsam.utils.test_case import GtsamTestCase
 
 
 class TestPinholeCamera(GtsamTestCase):
+    """
+    Tests if we can correctly get the camera Jacobians in Python
+    """
     def test_jacobian(self):
         cam1 = gtsam.PinholeCameraCal3Bundler()
-        cam1.deserialize(
-            '22 serialization::archive 19 1 0\n0 0 0 0 0 1 0\n1 1 0\n2 9.99727427959442139e-01 6.30191620439291000e-03 2.24814359098672867e-02 5.97546668723225594e-03 -9.99876141548156738e-01 1.45585928112268448e-02 2.25703977048397064e-02 -1.44202867522835732e-02 -9.99641239643096924e-01 0 0 -5.81446531765312802e-02 -3.64078342172925590e-02 -5.63949743097517997e-01 1 0\n3 0 0 5.18692016601562500e+02 5.18692016601562500e+02 0.00000000000000000e+00 0.00000000000000000e+00 0.00000000000000000e+00 -1.14570140838623047e-01 -3.44798192381858826e-02 1.00000000000000008e-05\n'
-        )
 
         # order is important because Eigen is column major!
         Dpose = np.zeros((2, 6), order='F')
         Dpoint = np.zeros((2, 3), order='F')
         Dcal = np.zeros((2, 3), order='F')
-        cam1.project(np.array([0.43350768, 0.0305741, -1.93050155]), Dpose,
-                     Dpoint, Dcal)
+        cam1.project(np.array([1, 1, 1]), Dpose, Dpoint, Dcal)
 
-        self.gtsamAssertEquals(
-            Dpoint,
-            np.array([[358.22984814, -0.58837638, 128.85360812],
-                      [3.58714683, -371.03278204, -16.89571148]]))
-
-        Dpose_expected = np.array([[
-                -3.97279895, -553.22184659, -16.40213844, -361.03694491,
-                -0.98773192, 120.76242884
-            ],
-            [
-                512.13105406, 3.97279895, -171.21912901,
-                -0.98773192, -371.25308927, -11.56857932
-            ]])
+        self.gtsamAssertEquals(Dpoint, np.array([[1, 0, -1], [0, 1, -1]]))
 
+        print(repr(Dpose), repr(Dcal))
         self.gtsamAssertEquals(
             Dpose,
-            Dpose_expected)
+            np.array([
+                [1., -2., 1., -1., 0., 1.],  #
+                [2., -1., -1., 0., -1., 1.]
+            ]))
+
+        self.gtsamAssertEquals(Dcal, np.array([[1., 2., 4.], [1., 2., 4.]]))
 
-        self.gtsamAssertEquals(
-            Dcal,
-            np.array([[0.33009787, 19.60464375, 2.214697],
-                      [-0.03162211, -1.87804997, -0.21215951]]))
 
 if __name__ == "__main__":
     unittest.main()