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Update to new method names in gtsam SfmTrack and SfmData #451

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Merged
johnwlambert merged 9 commits into from
Feb 9, 2022
Merged

Update to new method names in gtsam SfmTrack and SfmData #451

johnwlambert merged 9 commits into from
Feb 9, 2022

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@akshay-krishnan
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@akshay-krishnan akshay-krishnan commented Feb 8, 2022 •
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This only changes some method names, for ex: number_measurements() - > numberMeasurements(), add_measurement() -> addMeasurement(), due to the change on gtsam.

GTSAM PR: borglab/gtsam#1082

@akshay-krishnan akshay-krishnan marked this pull request as draft February 8, 2022 07:09
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akshay-krishnan commented Feb 8, 2022

Need to update the GTSAM wheel in the CI, left a TODO in setup.py

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johnwlambert commented Feb 8, 2022

thanks for the PR, @akshay-krishnan. A few more names for us to update, according to the CI:

==================================== ERRORS ====================================
______________ ERROR collecting tests/test_two_view_estimator.py _______________
tests/test_two_view_estimator.py:[17](https://github.com/borglab/gtsfm/runs/5113140405?check_suite_focus=true#step:7:17): in <module>
    EXAMPLE_DATA = io_utils.read_bal(gtsam.findExampleDataFile(GTSAM_EXAMPLE_FILE))
gtsfm/utils/io.py:137: in read_bal
    num_images = sfm_data.number_cameras()
E   AttributeError: 'gtsam.gtsam.SfmData' object has no attribute 'number_cameras'
___________ ERROR collecting tests/bundle/test_bundle_adjustment.py ____________
tests/bundle/test_bundle_adjustment.py:15: in <module>
    EXAMPLE_DATA = io_utils.read_bal(gtsam.findExampleDataFile(GTSAM_EXAMPLE_FILE))
gtsfm/utils/io.py:137: in read_bal
    num_images = sfm_data.number_cameras()
E   AttributeError: 'gtsam.gtsam.SfmData' object has no attribute 'number_cameras'
_______________ ERROR collecting tests/common/test_gtsfm_data.py _______________
tests/common/test_gtsfm_data.py:[19](https://github.com/borglab/gtsfm/runs/5113140405?check_suite_focus=true#step:7:19): in <module>
    EXAMPLE_DATA = io_utils.read_bal(gtsam.findExampleDataFile(GTSAM_EXAMPLE_FILE))
gtsfm/utils/io.py:1[37](https://github.com/borglab/gtsfm/runs/5113140405?check_suite_focus=true#step:7:37): in read_bal
    num_images = sfm_data.number_cameras()
E   AttributeError: 'gtsam.gtsam.SfmData' object has no attribute 'number_cameras'
______________ ERROR collecting tests/utils/test_serialization.py ______________
tests/utils/test_serialization.py:15: in <module>
    EXAMPLE_DATA = io_utils.read_bal(gtsam.findExampleDataFile(GTSAM_EXAMPLE_FILE))
gtsfm/utils/io.py:137: in read_bal
    num_images = sfm_data.number_cameras()
E   AttributeError: 'gtsam.gtsam.SfmData' object has no attribute 'number_cameras'
=============================== warnings summary ===============================

@akshay-krishnan akshay-krishnan marked this pull request as ready for review February 9, 2022 03:32
ayushbaid
ayushbaid approved these changes Feb 9, 2022
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You might also need to update the wheel links in the README.

.github/scripts/setup.sh Outdated
Comment on lines 13 to 14
unzip gtsam-4.2a5-cp38-cp38-manylinux2014_x86_64.whl.zip
pip install gtsam-4.2a5-cp38-cp38-manylinux2014_x86_64.whl
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@ayushbaid ayushbaid Feb 9, 2022

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nit: you can export the name to make it easier from next time.

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@akshay-krishnan akshay-krishnan Feb 9, 2022

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udpated, hopefully the change is what you meant.

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looks better!

johnwlambert
johnwlambert approved these changes Feb 9, 2022
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LGTM, very nice. Thanks Akshay

@johnwlambert johnwlambert merged commit 1b8041a into master Feb 9, 2022
@johnwlambert johnwlambert deleted the sfmtrack-update branch February 9, 2022 15:28
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@akshay-krishnan @johnwlambert @ayushbaid