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Minor fix test_Cal3Fisheye

release/4.3a0
roderick-koehle 2021-07-13 22:12:14 +02:00 committed by GitHub
parent 3e41ece75a
commit d130387a7d
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python/gtsam/tests/test_Cal3Fisheye.py
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@ -110,7 +110,6 @@ class TestCal3Fisheye(GtsamTestCase):
def test_triangulation_skipped(self): def test_triangulation_skipped(self):
"""Estimate spatial point from image measurements""" """Estimate spatial point from image measurements"""
triangulated = gtsam.triangulatePoint3(self.cameras, self.measurements, rank_tol=1e-9, optimize=True) triangulated = gtsam.triangulatePoint3(self.cameras, self.measurements, rank_tol=1e-9, optimize=True)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, self.origin) self.gtsamAssertEquals(triangulated, self.origin)
def test_triangulation_rectify(self): def test_triangulation_rectify(self):
@ -118,7 +117,6 @@ class TestCal3Fisheye(GtsamTestCase):
rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(self.cameras, self.measurements)]) rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(self.cameras, self.measurements)])
shared_cal = gtsam.Cal3_S2() shared_cal = gtsam.Cal3_S2()
triangulated = gtsam.triangulatePoint3(self.poses, shared_cal, rectified, rank_tol=1e-9, optimize=False) triangulated = gtsam.triangulatePoint3(self.poses, shared_cal, rectified, rank_tol=1e-9, optimize=False)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, self.origin) self.gtsamAssertEquals(triangulated, self.origin)
def test_retract(self): def test_retract(self):