gtsam.utilities.extractPoint2() doesn't work

[dishank-b]

gtsam.utilities.extractPoint2(Values) return empty array, even if Values have Point2 variables.

Steps to reproduce

1. initial = gtsam.Values()
2. initial.insert(1, gtsam.Pose2(0.0, 0.1, 0.1)
3. initial.insert(2, gtsam.Point2(0.0, 0.1))
4. gtsam.utilities.extractPoint2(initial) returns array([], shape=(0, 2), dtype=float64)
5. Where as gtsam.utilities.extractPose2(initial) return correctly which is array([[0. , 0.1, 0.1]])

Expted behavior of gtsam.utilities.extractPoint2(initial) is returning array([[0. , 0.1]])

[varunagrawal]

Valid bug. The issue is the underlying C++ function.

[varunagrawal]

Okay so did a bit of investigating and the underlying C++ function is correct (verified with a unit test).
The issue seems to be that the values.filter call expects a Point2 in C++ but that type info is not being relayed in Python. As a result, when I print out the filtered values in C++, it prints as empty.

I believe this is because Point2 is stored as an Eigen::Matrix21 but when converting from numpy to Eigen, Pybind changes the type to Eigen::Matrix<double, -1, -1> and thus the filter no longer works.

[dishank-b]

So what can be done about this? Do you know any alternative way to filter out Point2 type from Values() ?

[varunagrawal]

Already on it. Will make the PR in about 30 minutes.

[dishank-b]

How do I get the fixed version? Will I have to pull and install again?

[varunagrawal]

Yup. git pull origin develop should get you the latest fixes.