A few issues for us to fix about gtsfm HOT 5 CLOSED

6. we must throw error if type is not float as input to this function: ~https://github.com/borglab/gtsfm/blob/master/utils/features.py#L36

from gtsfm.

7. inside def assert_equal_upto_scale(self,
should be vectorized so that:

wTi_valid1 = [wTi is not None for wTi in wTi_list1]
wTi_valid2 = [wTi is not None for wTi in wTi_list2]
wTi_valid1 = np.array(wTi_valid1)
wTi_valid2 = np.array(wTi_valid2)
assert np.array_equal(wTi_valid1, wTi_valid2)
valid_idxs = np.where(wTi_valid1)[0]
reference_idx = np.argmin(valid_idxs)
pose1 = [x.between(origin1) for x in pose1[valid_idxs1]]

from gtsfm.

8. sfmdata for dropped cams -- sfmdata is wrong structure -- should make a python class with dicts Fixed in 113

from gtsfm.

unit test on each function in data association to make sure it works right

from gtsfm.

add interleaved logic between the loader and the configuration (For shared calibration)

from gtsfm.