Merge pull request #1316 from borglab/fix/track-wrapper

release/4.3a0
Varun Agrawal 2022-10-26 19:54:53 -04:00 committed by GitHub
commit 8b2639a69b
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2 changed files with 6 additions and 4 deletions

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@ -329,7 +329,7 @@ class MatchIndicesMap {
size_t size() const;
bool empty() const;
void clear();
gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
gtsam::gtsfm::CorrespondenceIndices at(const gtsam::IndexPair& keypair) const;
};
class Keypoints {
@ -350,6 +350,7 @@ class KeypointsVector {
gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
const gtsam::gtsfm::MatchIndicesMap& matches_dict,
const gtsam::gtsfm::KeypointsVector& keypoints_list, bool verbose = false);
} // namespace gtsfm
} // namespace gtsam

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@ -7,7 +7,8 @@ import unittest
import gtsam
import numpy as np
from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, Point2, SfmMeasurementVector, SfmTrack2d
from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
SfmMeasurementVector, SfmTrack2d)
from gtsam.gtsfm import Keypoints
from gtsam.utils.test_case import GtsamTestCase
@ -84,12 +85,12 @@ class TestSfmTrack2d(GtsamTestCase):
"""Tests for SfmTrack2d."""
def test_sfm_track_2d_constructor(self) -> None:
""" """
"""Test construction of 2D SfM track."""
measurements = SfmMeasurementVector()
measurements.append((0, Point2(10, 20)))
track = SfmTrack2d(measurements=measurements)
track.measurement(0)
track.numberMeasurements() == 1
assert track.numberMeasurements() == 1
if __name__ == "__main__":