update python functions to include namespace
parent
083569f97d
commit
8008d69dc6
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@ -82,7 +82,7 @@ else:
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print ("Done!")
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print ("Done!")
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if args.plot:
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if args.plot:
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resultPoses = gtsam.extractPose2(result)
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resultPoses = gtsam.utilities_extractPose2(result)
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for i in range(resultPoses.shape[0]):
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for i in range(resultPoses.shape[0]):
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plot.plot_pose2(1, gtsam.Pose2(resultPoses[i, :]))
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plot.plot_pose2(1, gtsam.Pose2(resultPoses[i, :]))
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plt.show()
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plt.show()
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@ -65,7 +65,7 @@ else:
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print ("Done!")
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print ("Done!")
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if args.plot:
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if args.plot:
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resultPoses = gtsam.allPose3s(result)
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resultPoses = gtsam.utilities_allPose3s(result)
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for i in range(resultPoses.size()):
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for i in range(resultPoses.size()):
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plot.plot_pose3(1, resultPoses.atPose3(i))
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plot.plot_pose3(1, resultPoses.atPose3(i))
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plt.show()
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plt.show()
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@ -10,15 +10,14 @@ A structure-from-motion problem on a simulated dataset
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"""
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"""
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from __future__ import print_function
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from __future__ import print_function
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import gtsam
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import matplotlib.pyplot as plt
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import matplotlib.pyplot as plt
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import numpy as np
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import numpy as np
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import gtsam
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from gtsam.examples import SFMdata
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from gtsam.examples import SFMdata
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from gtsam.gtsam import (Cal3_S2, DoglegOptimizer,
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from gtsam.gtsam import (Cal3_S2, DoglegOptimizer,
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GenericProjectionFactorCal3_S2, Marginals,
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GenericProjectionFactorCal3_S2, Marginals,
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NonlinearFactorGraph, Point3, Pose3,
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NonlinearFactorGraph, PinholeCameraCal3_S2, Point3,
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PriorFactorPoint3, PriorFactorPose3, Rot3,
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Pose3, PriorFactorPoint3, PriorFactorPose3, Rot3,
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SimpleCamera, Values)
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SimpleCamera, Values)
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from gtsam.utils import plot
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from gtsam.utils import plot
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@ -33,7 +33,7 @@ class TestDSFMap(GtsamTestCase):
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# testing the merge feature of dsf
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# testing the merge feature of dsf
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dsf.merge(pair1, pair2)
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dsf.merge(pair1, pair2)
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self.assertEquals(key(dsf.find(pair1)), key(dsf.find(pair2)))
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self.assertEqual(key(dsf.find(pair1)), key(dsf.find(pair2)))
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if __name__ == '__main__':
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if __name__ == '__main__':
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@ -279,7 +279,7 @@ def plot_trajectory(fignum, values, scale=1, marginals=None):
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marginals (gtsam.Marginals): Marginalized probability values of the estimation.
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marginals (gtsam.Marginals): Marginalized probability values of the estimation.
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Used to plot uncertainty bounds.
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Used to plot uncertainty bounds.
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"""
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"""
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pose3Values = gtsam.allPose3s(values)
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pose3Values = gtsam.utilities_allPose3s(values)
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keys = gtsam.KeyVector(pose3Values.keys())
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keys = gtsam.KeyVector(pose3Values.keys())
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lastIndex = None
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lastIndex = None
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