Only support loading custom edges with Graph.from_g2o(), not the stan…

…dalone function (#79)
JeffLIrion · Nov 11, 2023 · ba37eb2 · ba37eb2
1 parent a0a89d1
commit ba37eb2
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Showing 2 changed files with 13 additions and 8 deletions.
diff --git a/graphslam/load.py b/graphslam/load.py
@@ -13,15 +13,13 @@
 _LOGGER = logging.getLogger(__name__)
 
 
-def load_g2o(infile, custom_edge_types=None):
+def load_g2o(infile):
     r"""Load a graph from a .g2o file.
 
     Parameters
     ----------
     infile : str
         The path to the .g2o file
-    custom_edge_types : list[type], None
-        A list of custom edge types, which must be subclasses of ``BaseEdge``
 
     Returns
     -------
@@ -30,7 +28,7 @@ def load_g2o(infile, custom_edge_types=None):
 
     """
     _LOGGER.warning("load_g2o is deprecated; use Graph.load_g2o instead")
-    return Graph.load_g2o(infile, custom_edge_types)
+    return Graph.load_g2o(infile)
 
 
 def load_g2o_r2(infile):

diff --git a/tests/test_load.py b/tests/test_load.py
@@ -32,6 +32,13 @@ def setUp(self):
         """Clear ``FAKE_FILE``."""
         FAKE_FILE.clear()
 
+    def test_load_g2o(self):
+        """Test the ``load_g2o()`` function."""
+        infile = os.path.join(os.path.dirname(__file__), "test_r2.g2o")
+        g = load_g2o(infile)
+        g2 = load_g2o_r2(infile)
+        self.assertTrue(g.equals(g2))
+
     def test_load_g2o_r2(self):
         """Test the ``load_g2o_r2()`` function."""
         infile = os.path.join(os.path.dirname(__file__), "test_r2.g2o")
@@ -107,7 +114,7 @@ def test_load_custom_edge_without_to_g2o_without_from_g2o(self):
             g.to_g2o("test.g2o")
 
         with mock.patch("graphslam.graph.open", open_fake_file):
-            g2 = load_g2o("test.g2o")
+            g2 = Graph.load_g2o("test.g2o", [EdgeWithoutToG2OWithFromG2O])
             self.assertFalse(g.equals(g2))
 
     def test_load_custom_edge_with_to_g2o_without_from_g2o(self):
@@ -123,7 +130,7 @@ def test_load_custom_edge_with_to_g2o_without_from_g2o(self):
             g.to_g2o("test.g2o")
 
         with mock.patch("graphslam.graph.open", open_fake_file):
-            g2 = load_g2o("test.g2o", [EdgeWithToG2OWithoutFromG2O])
+            g2 = Graph.load_g2o("test.g2o", [EdgeWithToG2OWithoutFromG2O])
             self.assertFalse(g.equals(g2))
 
     def test_load_custom_edge_without_to_g2o_with_from_g2o(self):
@@ -139,7 +146,7 @@ def test_load_custom_edge_without_to_g2o_with_from_g2o(self):
             g.to_g2o("test.g2o")
 
         with mock.patch("graphslam.graph.open", open_fake_file):
-            g2 = load_g2o("test.g2o", [EdgeWithoutToG2OWithFromG2O])
+            g2 = Graph.load_g2o("test.g2o", [EdgeWithoutToG2OWithFromG2O])
             self.assertFalse(g.equals(g2))
 
     def test_load_custom_edge_with_to_g2o_with_from_g2o(self):
@@ -155,5 +162,5 @@ def test_load_custom_edge_with_to_g2o_with_from_g2o(self):
             g.to_g2o("test.g2o")
 
         with mock.patch("graphslam.graph.open", open_fake_file):
-            g2 = load_g2o("test.g2o", [EdgeWithToG2OWithFromG2O])
+            g2 = Graph.load_g2o("test.g2o", [EdgeWithToG2OWithFromG2O])
             self.assertTrue(g.equals(g2))