gtsam/python/gtsam/tests/test_lago.py

39 lines
1.1 KiB
Python

"""
GTSAM Copyright 2010, Georgia Tech Research Corporation,
Atlanta, Georgia 30332-0415
All Rights Reserved
Authors: Frank Dellaert, et al. (see THANKS for the full author list)
See LICENSE for the license information
Author: John Lambert (Python)
"""
import unittest
import numpy as np
import gtsam
from gtsam import Point3, Pose2, PriorFactorPose2, Values
class TestLago(unittest.TestCase):
"""Test selected LAGO methods."""
def test_initialize(self) -> None:
"""Smokescreen to ensure LAGO can be imported and run on toy data stored in a g2o file."""
g2oFile = gtsam.findExampleDataFile("noisyToyGraph.txt")
graph = gtsam.NonlinearFactorGraph()
graph, initial = gtsam.readG2o(g2oFile)
# Add prior on the pose having index (key) = 0
priorModel = gtsam.noiseModel.Diagonal.Variances(Point3(1e-6, 1e-6, 1e-8))
graph.add(PriorFactorPose2(0, Pose2(), priorModel))
estimateLago: Values = gtsam.lago.initialize(graph)
assert isinstance(estimateLago, Values)
if __name__ == "__main__":
unittest.main()