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added test for the wrapper

release/4.3a0
yotams 2022-04-06 09:27:57 +03:00
parent 0a06238785
commit 936a7ac073
1 changed files with 2 additions and 2 deletions
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python/gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py
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@ -27,7 +27,7 @@ point_noise = gtsam.noiseModel.Diagonal.Sigmas(np.ones(2))
cal = gtsam.Cal3_S2() cal = gtsam.Cal3_S2()
body_p_sensor = gtsam.Pose3() body_p_sensor = gtsam.Pose3()
alpha = 0.1 alpha = 0.1
measured = array([0.13257015, 0.0004157]) measured = np.array([0.13257015, 0.0004157])
class TestProjectionFactorRollingShutter(GtsamTestCase): class TestProjectionFactorRollingShutter(GtsamTestCase):
@ -52,7 +52,7 @@ class TestProjectionFactorRollingShutter(GtsamTestCase):
values.insert(1, pose2) values.insert(1, pose2)
values.insert(2, point) values.insert(2, point)
factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal) factor = gtsam_unstable.ProjectionFactorRollingShutter(measured, alpha, point_noise, 0, 1, 2, cal)
self.assertEqual(factor.error(values), 0) self.gtsamAssertEquals(factor.error(values), np.array(0), tol=1e-9)
if __name__ == '__main__': if __name__ == '__main__':