Merge pull request #1316 from borglab/fix/track-wrapper

borglab · Oct 26, 2022 · 8b2639a · 8b2639a
2 parents 74133b2 + 3da27a5
commit 8b2639a
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
@@ -329,7 +329,7 @@ class MatchIndicesMap {
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+  gtsam::gtsfm::CorrespondenceIndices at(const gtsam::IndexPair& keypair) const;
 };
 
 class Keypoints {
@@ -350,6 +350,7 @@ class KeypointsVector {
 gtsam::SfmTrack2dVector tracksFromPairwiseMatches(
     const gtsam::gtsfm::MatchIndicesMap& matches_dict,
     const gtsam::gtsfm::KeypointsVector& keypoints_list, bool verbose = false);
+
 }  // namespace gtsfm
 
 }  // namespace gtsam
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -7,7 +7,8 @@
 
 import gtsam
 import numpy as np
-from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, Point2, SfmMeasurementVector, SfmTrack2d
+from gtsam import (IndexPair, KeypointsVector, MatchIndicesMap, Point2,
+                   SfmMeasurementVector, SfmTrack2d)
 from gtsam.gtsfm import Keypoints
 from gtsam.utils.test_case import GtsamTestCase
 
@@ -84,12 +85,12 @@ class TestSfmTrack2d(GtsamTestCase):
     """Tests for SfmTrack2d."""
 
     def test_sfm_track_2d_constructor(self) -> None:
-        """ """
+        """Test construction of 2D SfM track."""
         measurements = SfmMeasurementVector()
         measurements.append((0, Point2(10, 20)))
         track = SfmTrack2d(measurements=measurements)
         track.measurement(0)
-        track.numberMeasurements() == 1
+        assert track.numberMeasurements() == 1
 
 
 if __name__ == "__main__":