diff --git a/python/gtsam/tests/test_SimpleCamera.py b/python/gtsam/tests/test_SimpleCamera.py index efdfec561..358eb1f48 100644 --- a/python/gtsam/tests/test_SimpleCamera.py +++ b/python/gtsam/tests/test_SimpleCamera.py @@ -14,11 +14,12 @@ import unittest import numpy as np import gtsam -from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, SimpleCamera +from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, PinholeCameraCal3_S2 as SimpleCamera from gtsam.utils.test_case import GtsamTestCase K = Cal3_S2(625, 625, 0, 0, 0) + class TestSimpleCamera(GtsamTestCase): def test_constructor(self): @@ -29,15 +30,15 @@ class TestSimpleCamera(GtsamTestCase): def test_level2(self): # Create a level camera, looking in Y-direction - pose2 = Pose2(0.4,0.3,math.pi/2.0) + pose2 = Pose2(0.4, 0.3, math.pi/2.0) camera = SimpleCamera.Level(K, pose2, 0.1) # expected - x = Point3(1,0,0) - y = Point3(0,0,-1) - z = Point3(0,1,0) - wRc = Rot3(x,y,z) - expected = Pose3(wRc,Point3(0.4,0.3,0.1)) + x = Point3(1, 0, 0) + y = Point3(0, 0, -1) + z = Point3(0, 1, 0) + wRc = Rot3(x, y, z) + expected = Pose3(wRc, Point3(0.4, 0.3, 0.1)) self.gtsamAssertEquals(camera.pose(), expected, 1e-9)