Point3 And Point2 In Python

[FaDoSolReLaMiTi]

Description

I managed to compile the Python wrapper but it cannot pass the python-test.
It shows some errors like

RuntimeError: Attempting to retrieve value with key "10", type stored in Values is class gtsam::GenericValue<class Eigen::Matrix<double,-1,1,0,-1,1> > but requested type was class Eigen::Matrix<double,3,1,0,3,1>

In python, Point3 is 1x3 numpy array and converted into Eigen::Matrix<double,-1,1,0,-1,1> when adding the initial values for the solver. However, the factor graph keeps Eigen::Matrix<double,3,1,0,3,1> when adding a factor (e.g. PriorFactorPoint3).

Steps to reproduce

1. Exactly as instructed to install the python wrapper (static link library).

Expected behavior

It can pass python-test.

Environment

Window 10
VS2019
Python 3.9

[ProfFan]

Interesting, I think I fixed this already in #1168. Can you try using .insertPoint3 and report the results?

[FaDoSolReLaMiTi]

Thank you very much. It works now. I replaced the initial_values.insert with initial_values.insert_point3 in the python test scripts and then it can pass the python test.