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				|  | @ -54,8 +54,12 @@ class NamedSfmMeasurementVector { | |||
| 
 | ||||
| class SfmTrack2d | ||||
| { | ||||
|   SfmTrack2d(); | ||||
|   SfmTrack2d(std::vector<gtsam::NamedSfmMeasurement> &measurements); | ||||
|   size_t numberMeasurements() const; | ||||
|   void addMeasurement(const gtsam::NamedSfmMeasurement &m); | ||||
|   std::vector<gtsam::NamedSfmMeasurement> measurements(); | ||||
|   gtsam::NamedSfmMeasurement measurement(size_t idx) const; | ||||
|   bool hasUniqueCameras(); | ||||
| }; | ||||
| 
 | ||||
|  |  | |||
|  | @ -17,7 +17,6 @@ | |||
| 
 | ||||
| PYBIND11_MAKE_OPAQUE( | ||||
|     std::vector<gtsam::SfmTrack>); | ||||
| 
 | ||||
| PYBIND11_MAKE_OPAQUE( | ||||
|     std::vector<gtsam::SfmCamera>); | ||||
| PYBIND11_MAKE_OPAQUE( | ||||
|  | @ -26,10 +25,6 @@ PYBIND11_MAKE_OPAQUE( | |||
|     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>); | ||||
| PYBIND11_MAKE_OPAQUE( | ||||
|     std::vector<gtsam::Keypoints>); | ||||
| // PYBIND11_MAKE_OPAQUE(
 | ||||
| //     std::vector<gtsam::SfmTrack2d>);
 | ||||
| 
 | ||||
| PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap); | ||||
| 
 | ||||
| PYBIND11_MAKE_OPAQUE( | ||||
|     std::vector<gtsam::NamedSfmMeasurement>); | ||||
|  | @ -8,7 +8,16 @@ import unittest | |||
| import numpy as np | ||||
| 
 | ||||
| import gtsam | ||||
| from gtsam import DsfTrackGenerator, IndexPair, Keypoints, KeypointsList, MatchIndicesMap | ||||
| from gtsam import ( | ||||
|     DsfTrackGenerator, | ||||
|     IndexPair, | ||||
|     Keypoints, | ||||
|     KeypointsList, | ||||
|     MatchIndicesMap, | ||||
|     NamedSfmMeasurement, | ||||
|     NamedSfmMeasurementVector, | ||||
|     SfmTrack2d, | ||||
| ) | ||||
| from gtsam.utils.test_case import GtsamTestCase | ||||
| 
 | ||||
| 
 | ||||
|  | @ -39,6 +48,7 @@ class TestDsfTrackGenerator(GtsamTestCase): | |||
|         assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0])) | ||||
|         assert tracks[0].measurements()[0].i == 0 | ||||
|         assert tracks[0].measurements()[1].i == 1 | ||||
|         assert tracks[0].numberMeasurements() == 2 | ||||
| 
 | ||||
|         # Verify track 1. | ||||
|         assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0])) | ||||
|  | @ -47,9 +57,23 @@ class TestDsfTrackGenerator(GtsamTestCase): | |||
|         assert tracks[1].measurements()[0].i == 0 | ||||
|         assert tracks[1].measurements()[1].i == 1 | ||||
|         assert tracks[1].measurements()[2].i == 2 | ||||
|         assert tracks[1].numberMeasurements() == 3 | ||||
| 
 | ||||
|         # Verify track 2. | ||||
|         assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0])) | ||||
|         assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0])) | ||||
|         assert tracks[2].measurements()[0].i == 1 | ||||
|         assert tracks[2].measurements()[1].i == 2 | ||||
|         assert tracks[2].numberMeasurements() == 2 | ||||
| 
 | ||||
| 
 | ||||
| class TestSfmTrack2d(GtsamTestCase): | ||||
|     """Tests for SfmTrack2d.""" | ||||
| 
 | ||||
|     def test_sfm_track_2d_constructor(self) -> None: | ||||
|         """ """ | ||||
|         measurements = NamedSfmMeasurementVector() | ||||
|         measurements.append(NamedSfmMeasurement(i=0, uv=np.array([10.0, 20.0]))) | ||||
|         track = SfmTrack2d(measurements=measurements) | ||||
|         track.measurement(0) | ||||
|         track.numberMeasurements() == 1 | ||||
|  |  | |||
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