12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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
parent 74133b26e4 3da27a5df7
commit 8b2639a69b
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/sfm/sfm.i
View File

@ -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

7
python/gtsam/tests/test_DsfTrackGenerator.py
View File

@ -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__":