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Wrap PinholeCameraCal3_S2 to python

release/4.3a0
Ellon Mendes 2015-11-23 12:33:33 +01:00
parent ade8ab4053
commit 0e134c09db
2 changed files with 51 additions and 0 deletions
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2
python/handwritten/exportgtsam.cpp
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@ -34,6 +34,7 @@ void exportRot2();
void exportRot3();
void exportPose2();
void exportPose3();
void exportPinholeCamera();
// Linear
void exportNoiseModels();
@ -67,6 +68,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){
exportRot3();
exportPose2();
exportPose3();
exportPinholeCamera();
exportNoiseModels();

49
python/handwritten/geometry/PinholeCamera.cpp Normal file
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@ -0,0 +1,49 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @brief wraps PinholeCamera classes to python
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
#include <boost/python.hpp>
#define NO_IMPORT_ARRAY
#include <numpy_eigen/NumpyEigenConverter.hpp>
#include "gtsam/geometry/PinholeCamera.h"
#include "gtsam/geometry/Cal3_S2.h"
using namespace boost::python;
using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCamera<Cal3_S2>::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCamera<Cal3_S2>::equals, 1, 2)
BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCamera<Cal3_S2>::Lookat, 3, 4)
void exportPinholeCamera(){
class_<PinholeCamera<Cal3_S2> >("PinholeCameraCal3_S2")
.def(init<>())
.def(init<const Pose3 &>())
.def(init<const Pose3 &, const Cal3_S2 &>())
.def(init<const Vector &>())
.def(init<const Vector &, const Vector &>())
.def("print", &PinholeCamera<Cal3_S2>::print, print_overloads(args("s")))
.def("equals", &PinholeCamera<Cal3_S2>::equals, equals_overloads(args("q","tol")))
.def("pose", &PinholeCamera<Cal3_S2>::pose, return_value_policy<copy_const_reference>())
.def("calibration", &PinholeCamera<Cal3_S2>::calibration, return_value_policy<copy_const_reference>())
.def("Lookat", &PinholeCamera<Cal3_S2>::Lookat, Lookat_overloads())
.staticmethod("Lookat")
;
}