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Hunted down deprecated use of parse3DLandmarks

release/4.3a0
Frank Dellaert 2020-08-15 08:06:37 -04:00
parent 97537f2a36
commit fc08562641
3 changed files with 10 additions and 10 deletions
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2
gtsam/slam/dataset.cpp
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@ -907,7 +907,7 @@ GraphAndValues load3D(const string &filename) {
initial->insert(key_pose.first, key_pose.second); initial->insert(key_pose.first, key_pose.second);
} }
const auto landmarks = parse3DLandmarks(filename); const auto landmarks = parseVariables<Point3>(filename);
for (const auto &key_landmark : landmarks) { for (const auto &key_landmark : landmarks) {
initial->insert(key_landmark.first, key_landmark.second); initial->insert(key_landmark.first, key_landmark.second);
} }

6
gtsam/slam/tests/testDataset.cpp
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@ -224,7 +224,7 @@ TEST(dataSet, readG2o3D) {
} }
// Check landmark parsing // Check landmark parsing
const auto actualLandmarks = parse3DLandmarks(g2oFile); const auto actualLandmarks = parseVariables<Point3>(g2oFile);
for (size_t j : {0, 1, 2, 3, 4}) { for (size_t j : {0, 1, 2, 3, 4}) {
EXPECT(assert_equal(poses[j], actualPoses.at(j), 1e-5)); EXPECT(assert_equal(poses[j], actualPoses.at(j), 1e-5));
} }
@ -299,7 +299,7 @@ TEST(dataSet, readG2oCheckDeterminants) {
const Rot3 R = key_value.second.rotation(); const Rot3 R = key_value.second.rotation();
EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9); EXPECT_DOUBLES_EQUAL(1.0, R.matrix().determinant(), 1e-9);
} }
const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile); const map<Key, Point3> landmarks = parseVariables<Point3>(g2oFile);
EXPECT_LONGS_EQUAL(0, landmarks.size()); EXPECT_LONGS_EQUAL(0, landmarks.size());
} }
@ -310,7 +310,7 @@ TEST(dataSet, readG2oLandmarks) {
// Check number of poses and landmarks. Should be 8 each. // Check number of poses and landmarks. Should be 8 each.
const map<Key, Pose3> poses = parseVariables<Pose3>(g2oFile); const map<Key, Pose3> poses = parseVariables<Pose3>(g2oFile);
EXPECT_LONGS_EQUAL(8, poses.size()); EXPECT_LONGS_EQUAL(8, poses.size());
const map<Key, Point3> landmarks = parse3DLandmarks(g2oFile); const map<Key, Point3> landmarks = parseVariables<Point3>(g2oFile);
EXPECT_LONGS_EQUAL(8, landmarks.size()); EXPECT_LONGS_EQUAL(8, landmarks.size());
} }

12
timing/timeFrobeniusFactor.cpp
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@ -57,7 +57,7 @@ int main(int argc, char* argv[]) {
} }
// Read G2O file // Read G2O file
const auto factors = parse3DFactors(g2oFile); const auto measurements = parseMeasurements<Rot3>(g2oFile);
const auto poses = parseVariables<Pose3>(g2oFile); const auto poses = parseVariables<Pose3>(g2oFile);
// Build graph // Build graph
@ -66,12 +66,12 @@ int main(int argc, char* argv[]) {
auto priorModel = noiseModel::Isotropic::Sigma(6, 10000); auto priorModel = noiseModel::Isotropic::Sigma(6, 10000);
graph.add(PriorFactor<SOn>(0, SOn::identity(4), priorModel)); graph.add(PriorFactor<SOn>(0, SOn::identity(4), priorModel));
auto G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(4)); auto G = boost::make_shared<Matrix>(SOn::VectorizedGenerators(4));
for (const auto& factor : factors) { for (const auto &m : measurements) {
const auto& keys = factor->keys(); const auto &keys = m.keys();
const auto& Tij = factor->measured(); const Rot3 &Tij = m.measured();
const auto& model = factor->noiseModel(); const auto &model = m.noiseModel();
graph.emplace_shared<FrobeniusWormholeFactor>( graph.emplace_shared<FrobeniusWormholeFactor>(
keys[0], keys[1], Rot3(Tij.rotation().matrix()), 4, model, G); keys[0], keys[1], Tij, 4, model, G);
} }
std::mt19937 rng(42); std::mt19937 rng(42);