expand tests
parent
6eb4ada2fd
commit
cafab61fec
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@ -54,8 +54,12 @@ class NamedSfmMeasurementVector {
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class SfmTrack2d
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{
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SfmTrack2d();
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SfmTrack2d(std::vector<gtsam::NamedSfmMeasurement> &measurements);
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size_t numberMeasurements() const;
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void addMeasurement(const gtsam::NamedSfmMeasurement &m);
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std::vector<gtsam::NamedSfmMeasurement> measurements();
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gtsam::NamedSfmMeasurement measurement(size_t idx) const;
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bool hasUniqueCameras();
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};
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@ -17,7 +17,6 @@
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PYBIND11_MAKE_OPAQUE(
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std::vector<gtsam::SfmTrack>);
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PYBIND11_MAKE_OPAQUE(
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std::vector<gtsam::SfmCamera>);
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PYBIND11_MAKE_OPAQUE(
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@ -26,10 +25,6 @@ PYBIND11_MAKE_OPAQUE(
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std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
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PYBIND11_MAKE_OPAQUE(
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std::vector<gtsam::Keypoints>);
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// PYBIND11_MAKE_OPAQUE(
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// std::vector<gtsam::SfmTrack2d>);
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PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
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PYBIND11_MAKE_OPAQUE(
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std::vector<gtsam::NamedSfmMeasurement>);
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@ -8,7 +8,16 @@ import unittest
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import numpy as np
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import gtsam
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from gtsam import DsfTrackGenerator, IndexPair, Keypoints, KeypointsList, MatchIndicesMap
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from gtsam import (
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DsfTrackGenerator,
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IndexPair,
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Keypoints,
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KeypointsList,
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MatchIndicesMap,
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NamedSfmMeasurement,
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NamedSfmMeasurementVector,
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SfmTrack2d,
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)
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from gtsam.utils.test_case import GtsamTestCase
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@ -39,6 +48,7 @@ class TestDsfTrackGenerator(GtsamTestCase):
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assert np.allclose(tracks[0].measurements()[1].uv, np.array([50.0, 60.0]))
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assert tracks[0].measurements()[0].i == 0
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assert tracks[0].measurements()[1].i == 1
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assert tracks[0].numberMeasurements() == 2
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# Verify track 1.
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assert np.allclose(tracks[1].measurements()[0].uv, np.array([30.0, 40.0]))
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@ -47,9 +57,23 @@ class TestDsfTrackGenerator(GtsamTestCase):
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assert tracks[1].measurements()[0].i == 0
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assert tracks[1].measurements()[1].i == 1
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assert tracks[1].measurements()[2].i == 2
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assert tracks[1].numberMeasurements() == 3
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# Verify track 2.
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assert np.allclose(tracks[2].measurements()[0].uv, np.array([90.0, 100.0]))
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assert np.allclose(tracks[2].measurements()[1].uv, np.array([110.0, 120.0]))
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assert tracks[2].measurements()[0].i == 1
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assert tracks[2].measurements()[1].i == 2
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assert tracks[2].numberMeasurements() == 2
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class TestSfmTrack2d(GtsamTestCase):
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"""Tests for SfmTrack2d."""
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def test_sfm_track_2d_constructor(self) -> None:
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""" """
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measurements = NamedSfmMeasurementVector()
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measurements.append(NamedSfmMeasurement(i=0, uv=np.array([10.0, 20.0])))
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track = SfmTrack2d(measurements=measurements)
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track.measurement(0)
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track.numberMeasurements() == 1
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