udpate Pose2AprilTag4Corners

dehann · dehann · commit 22553eae6965 · 2022-07-08T23:31:53.000-07:00
diff --git a/src/images/Pose2AprilTag4Corners.jl b/src/images/Pose2AprilTag4Corners.jl
@@ -258,7 +258,7 @@ function (pat4c::CalcFactor{<:Pose2AprilTag4Corners})(X,
 
   # @assert X isa ProductRepr "Pose2AprilTag4Corners expects measurement sample X to be a Manifolds tangent vector, not coordinate or point representation.  Got X=$X"
   M = getManifold(pat4c.factor.Z)
-  q̂ = Manifolds.compose(M, p, exp(M, getPointIdentity(M, p), X)) #for groups
+  q̂ = Manifolds.compose(M, p, exp(M, getPointIdentity(M), X)) #for groups
   #TODO allocalte for vee! see Manifolds #412, fix for AD
   Xc = zeros(3)
   vee!(M, Xc, q, log(M, q, q̂))
diff --git a/test/testPose2AprilTag4Corner.jl b/test/testPose2AprilTag4Corner.jl
@@ -73,16 +73,16 @@ meas = sampleFactor(IIF._getCCW(atf),2)
 
 @error "restore type checking for AprilTags4Corners Factor"
 @test  meas isa Vector
-@test  meas[1] isa ProductRepr # TBD likely to change to new Manifolds.jl type
+@test  meas[1] isa ArrayPartition # TBD likely to change to new Manifolds.jl type
 
 ##
 
 
 pts = approxConv(fg, DFG.ls(fg,:tag17)[1], :tag17)
 
 @test 1 < length(pts)
-@test length(pts[1].parts[1]) == 2
-@test size(pts[1].parts[2]) == (2,2)
+@test length(submanifold_component(pts[1],1)) == 2
+@test size(submanifold_component(pts[1],2)) == (2,2)
 
 
 ## test packing of factor
@@ -136,8 +136,8 @@ uf4_ = getFactorType(fg_, DFG.ls(fg_, :tag17)[1])
 pred, meas = approxDeconv(fg, DFG.ls(fg, :tag17)[1])
 
 M = Manifolds.SpecialEuclidean(2)
-pred_ = exp.(Ref(M), Ref(identity_element(M)), pred)
-meas_ = exp.(Ref(M), Ref(identity_element(M)), meas)
+pred_ = exp.(Ref(M), Ref(getPointIdentity(M)), pred)
+meas_ = exp.(Ref(M), Ref(getPointIdentity(M)), meas)
 
 @test isapprox( M, mean(M,pred_),  mean(M, meas_), atol=0.5)
 
