update python functions to include namespace

cython/gtsam/examples/Pose2SLAMExample_g2o.py

@@ -82,7 +82,7 @@ else:
     print ("Done!")
 
 if args.plot:
-    resultPoses = gtsam.extractPose2(result)
+    resultPoses = gtsam.utilities_extractPose2(result)
     for i in range(resultPoses.shape[0]):
         plot.plot_pose2(1, gtsam.Pose2(resultPoses[i, :]))
     plt.show()

cython/gtsam/examples/Pose3SLAMExample_g2o.py

@@ -65,7 +65,7 @@ else:
     print ("Done!")
 
 if args.plot:
-    resultPoses = gtsam.allPose3s(result)
+    resultPoses = gtsam.utilities_allPose3s(result)
     for i in range(resultPoses.size()):
         plot.plot_pose3(1, resultPoses.atPose3(i))
     plt.show()

cython/gtsam/examples/SFMExample.py

@@ -10,15 +10,14 @@ A structure-from-motion problem on a simulated dataset
 """
 from __future__ import print_function
 
+import gtsam
 import matplotlib.pyplot as plt
 import numpy as np
-
-import gtsam
 from gtsam.examples import SFMdata
 from gtsam.gtsam import (Cal3_S2, DoglegOptimizer,
                          GenericProjectionFactorCal3_S2, Marginals,
-                         NonlinearFactorGraph, Point3, Pose3,
-                         PriorFactorPoint3, PriorFactorPose3, Rot3,
+                         NonlinearFactorGraph, PinholeCameraCal3_S2, Point3,
+                         Pose3, PriorFactorPoint3, PriorFactorPose3, Rot3,
                          SimpleCamera, Values)
 from gtsam.utils import plot
 

cython/gtsam/tests/test_dsf_map.py

@@ -33,7 +33,7 @@ class TestDSFMap(GtsamTestCase):
         
         # testing the merge feature of dsf
         dsf.merge(pair1, pair2)
-        self.assertEquals(key(dsf.find(pair1)), key(dsf.find(pair2)))
+        self.assertEqual(key(dsf.find(pair1)), key(dsf.find(pair2)))
 
 
 if __name__ == '__main__':

cython/gtsam/utils/plot.py

@@ -279,7 +279,7 @@ def plot_trajectory(fignum, values, scale=1, marginals=None):
         marginals (gtsam.Marginals): Marginalized probability values of the estimation.
             Used to plot uncertainty bounds.
     """
-    pose3Values = gtsam.allPose3s(values)
+    pose3Values = gtsam.utilities_allPose3s(values)
     keys = gtsam.KeyVector(pose3Values.keys())
     lastIndex = None