python
gtsam
tests
test_lago.py
Go to the documentation of this file.
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"""
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GTSAM Copyright 2010, Georgia Tech Research Corporation,
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Atlanta, Georgia 30332-0415
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All Rights Reserved
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Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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See LICENSE for the license information
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Author: John Lambert (Python)
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"""
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import
unittest
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import
numpy
as
np
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import
gtsam
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from
gtsam
import
Point3, Pose2, PriorFactorPose2, Values
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class
TestLago
(unittest.TestCase):
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"""Test selected LAGO methods."""
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def
test_initialize
(self) -> None:
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"""Smokescreen to ensure LAGO can be imported and run on toy data stored in a g2o file."""
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g2oFile =
gtsam.findExampleDataFile
(
"noisyToyGraph.txt"
)
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graph =
gtsam.NonlinearFactorGraph
()
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graph, initial =
gtsam.readG2o
(g2oFile)
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# Add prior on the pose having index (key) = 0
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priorModel =
gtsam.noiseModel.Diagonal.Variances
(
Point3
(1e-6, 1e-6, 1e-8))
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graph.add(
PriorFactorPose2
(0,
Pose2
(), priorModel))
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estimateLago: Values =
gtsam.lago.initialize
(graph)
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assert
isinstance
(estimateLago, Values)
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if
__name__ ==
"__main__"
:
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unittest.main()
gtsam::lago::initialize
Values initialize(const NonlinearFactorGraph &graph, const Values &initialGuess)
Definition:
lago.cpp:391
gtsam::readG2o
GraphAndValues readG2o(const std::string &g2oFile, const bool is3D, KernelFunctionType kernelFunctionType)
This function parses a g2o file and stores the measurements into a NonlinearFactorGraph and the initi...
Definition:
dataset.cpp:621
PriorFactorPose2
PriorFactor< Pose2 > PriorFactorPose2
Definition:
serialization.cpp:37
isinstance
bool isinstance(handle obj)
Definition:
pytypes.h:842
gtsam::NonlinearFactorGraph
Definition:
NonlinearFactorGraph.h:55
test_lago.TestLago
Definition:
test_lago.py:19
gtsam::Point3
Vector3 Point3
Definition:
Point3.h:38
gtsam::findExampleDataFile
GTSAM_EXPORT std::string findExampleDataFile(const std::string &name)
Definition:
dataset.cpp:70
test_lago.TestLago.test_initialize
None test_initialize(self)
Definition:
test_lago.py:22
gtsam::noiseModel::Diagonal::Variances
static shared_ptr Variances(const Vector &variances, bool smart=true)
Definition:
NoiseModel.cpp:283
gtsam::Pose2
Definition:
Pose2.h:39
gtsam
Author(s):
autogenerated on Fri Nov 1 2024 03:39:27