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formatting and fix

release/4.3a0
Varun Agrawal 2023-07-06 04:12:39 -04:00
parent 93ed850c6c
commit a14fb8db7d
2 changed files with 4 additions and 10 deletions
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5
gtsam/nonlinear/nonlinear.i
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@ -515,7 +515,7 @@ class ISAM2 {
gtsam::KeyGroupMap& constrainedKeys, gtsam::KeyGroupMap& constrainedKeys,
const gtsam::KeyList& noRelinKeys, const gtsam::KeyList& noRelinKeys,
const gtsam::KeyList& extraReelimKeys, const gtsam::KeyList& extraReelimKeys,
bool force_relinearize=false); bool force_relinearize = false);
gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors, gtsam::ISAM2Result update(const gtsam::NonlinearFactorGraph& newFactors,
const gtsam::Values& newTheta, const gtsam::Values& newTheta,
@ -548,8 +548,7 @@ class ISAM2 {
string dot(const gtsam::KeyFormatter& keyFormatter = string dot(const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
void saveGraph(string s, void saveGraph(string s, const gtsam::KeyFormatter& keyFormatter =
const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
}; };

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

@ -63,7 +63,6 @@ class TestVisualISAMExample(GtsamTestCase):
def test_isam2_error(self): def test_isam2_error(self):
"""Test for isam2 error() method.""" """Test for isam2 error() method."""
#TODO(Varun) fix
# Initialize iSAM with the first pose and points # Initialize iSAM with the first pose and points
isam, result, nextPose = visual_isam.initialize( isam, result, nextPose = visual_isam.initialize(
self.data, self.truth, self.isamOptions) self.data, self.truth, self.isamOptions)
@ -83,13 +82,9 @@ class TestVisualISAMExample(GtsamTestCase):
except RuntimeError: except RuntimeError:
v = estimate.atPoint3(key) v = estimate.atPoint3(key)
print(key)
print(type(v))
print(v)
values.insert(key, v) values.insert(key, v)
print(isam.error(values))
self.assertEqual(isam.error(values), 34212421.14731998) self.assertAlmostEqual(isam.error(values), 34212421.14731998)
def test_isam2_update(self): def test_isam2_update(self):
""" """