fixing tests, issue on set SA

JuliaRobotics · Jul 15, 2023 · 70128b3 · 70128b3
1 parent ee2cb0e
commit 70128b3
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/ext/CaesarImagesExt.jl b/ext/CaesarImagesExt.jl
@@ -29,6 +29,8 @@ import IncrementalInference: getSample, preambleCache, _update!, getManifold
 import Caesar: applyMaskImage, makeMaskImage, makeMaskImages, imhcatPretty, toImage
 import Caesar: writevideo, csmAnimationJoinImgs, csmAnimateSideBySide, makeVideoFromData
 import Caesar: overlayScanMatcher
+import Caesar: overlayScatter, overlayScatterMutate
+
 import Caesar: ScanMatcherPose2, PackedScanMatcherPose2
 import Caesar: _PARCHABLE_PACKED_CLOUD
 import Caesar: ScatterAlign, ScatterAlignPose2, ScatterAlignPose3

diff --git a/ext/Images/ScanMatcherPose2.jl b/ext/Images/ScanMatcherPose2.jl
@@ -38,15 +38,8 @@ Base.show(io::IO, ::MIME"text/plain", arp::ScanMatcherPose2) = show(io, arp)
 Base.show(io::IO, ::MIME"application/juno.inline", arp::ScanMatcherPose2) = show(io, arp)
 
 
-"""
-    $SIGNATURES
-
-Overlay the two images from `AlignRadarPose2` with the first (red) fixed and transform the second image (blue) according to `tf`.
 
-Notes:
-- `tf` is a Manifolds.jl type `::ProductRepr` (or newer `::ArrayPartition`) to represent a `SpecialEuclidean(2)` manifold point.
-"""
-function overlayScanMatcher(sm::ScanMatcherPose2, 
+function overlayScanMatcherOLD(sm::ScanMatcherPose2, 
                             trans::Vector{Float64}=Float64[0;0],
                             rot::Real=0.0;
                             score=Ref(0.0),
@@ -72,6 +65,14 @@ end
 
 #
 
+"""
+    $SIGNATURES
+
+Overlay the two images from `AlignRadarPose2` with the first (red) fixed and transform the second image (blue) according to `tf`.
+
+Notes:
+- `tf` is a Manifolds.jl type `::ProductRepr` (or newer `::ArrayPartition`) to represent a `SpecialEuclidean(2)` manifold point.
+"""
 function overlayScanMatcher(sm::ScanMatcherPose2, 
                             tf::ArrayPartition = Manifolds.identity_element(SpecialEuclidean(2));
                             kw... )

diff --git a/ext/WeakdepsPrototypes.jl b/ext/WeakdepsPrototypes.jl
@@ -24,10 +24,10 @@ export ScatterAlignPose2, PackedScatterAlignPose2
 export ScatterAlignPose3, PackedScatterAlignPose3
 
 export overlayScanMatcher
+export overlayScanMatcherOLD
 export overlayScatter, overlayScatterMutate
 
 
-
 function applyMaskImage end
 function makeMaskImage end
 function makeMaskImages end
@@ -40,6 +40,7 @@ function csmAnimateSideBySide end
 function makeVideoFromData end
 
 function overlayScanMatcher end
+function overlayScanMatcherOLD end
 
 function overlayScatter end
 function overlayScatterMutate end