From 19287ad5c889b08cf64855fe48b7a89bd0d4e174 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Mon, 31 Jan 2022 12:15:43 -0500
Subject: [PATCH] fix geometry modules

---
 gtsam/geometry/geometry.i               | 54 -------------------------
 python/gtsam/preamble/geometry.h        | 12 ++----
 python/gtsam/specializations/geometry.h |  7 ----
 3 files changed, 3 insertions(+), 70 deletions(-)

diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 1e42966f8..97ffe6f18 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -29,38 +29,6 @@ class Point2 {
   void serialize() const;
 };
   
-class Point2Pairs {
-  Point2Pairs();
-  size_t size() const;
-  bool empty() const;
-  gtsam::Point2Pair at(size_t n) const;
-  void push_back(const gtsam::Point2Pair& point_pair);
-};
-
-// std::vector<gtsam::Point2>
-class Point2Vector {
-  // Constructors
-  Point2Vector();
-  Point2Vector(const gtsam::Point2Vector& v);
-
-  // Capacity
-  size_t size() const;
-  size_t max_size() const;
-  void resize(size_t sz);
-  size_t capacity() const;
-  bool empty() const;
-  void reserve(size_t n);
-
-  // Element access
-  gtsam::Point2 at(size_t n) const;
-  gtsam::Point2 front() const;
-  gtsam::Point2 back() const;
-
-  // Modifiers
-  void assign(size_t n, const gtsam::Point2& u);
-  void push_back(const gtsam::Point2& x);
-  void pop_back();
-};
 
 #include <gtsam/geometry/StereoPoint2.h>
 class StereoPoint2 {
@@ -127,13 +95,6 @@ class Point3 {
   void serialize() const;
 };
 
-class Point3Pairs {
-  Point3Pairs();
-  size_t size() const;
-  bool empty() const;
-  gtsam::Point3Pair at(size_t n) const;
-  void push_back(const gtsam::Point3Pair& point_pair);
-};
 
 #include <gtsam/geometry/Rot2.h>
 class Rot2 {
@@ -486,21 +447,6 @@ class Pose3 {
   void serialize() const;
 };
 
-class Pose3Pairs {
-  Pose3Pairs();
-  size_t size() const;
-  bool empty() const;
-  gtsam::Pose3Pair at(size_t n) const;
-  void push_back(const gtsam::Pose3Pair& pose_pair);
-};
-
-class Pose3Vector {
-  Pose3Vector();
-  size_t size() const;
-  bool empty() const;
-  gtsam::Pose3 at(size_t n) const;
-  void push_back(const gtsam::Pose3& pose);
-};
 
 #include <gtsam/geometry/Unit3.h>
 class Unit3 {
diff --git a/python/gtsam/preamble/geometry.h b/python/gtsam/preamble/geometry.h
index 35fe2a577..ca03cdfe2 100644
--- a/python/gtsam/preamble/geometry.h
+++ b/python/gtsam/preamble/geometry.h
@@ -10,7 +10,6 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
-#include <pybind11/stl.h>
 
 // Support for binding boost::optional types in C++11.
 // https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html
@@ -19,12 +18,7 @@ namespace pybind11 { namespace detail {
     struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
 }}
 
-PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>);
-PYBIND11_MAKE_OPAQUE(gtsam::Point2Pairs);
-PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs);
-PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs);
-PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
-PYBIND11_MAKE_OPAQUE(
-    gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
 PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>);
diff --git a/python/gtsam/specializations/geometry.h b/python/gtsam/specializations/geometry.h
index a492ce8eb..f63e942a2 100644
--- a/python/gtsam/specializations/geometry.h
+++ b/python/gtsam/specializations/geometry.h
@@ -11,13 +11,6 @@
  * and saves one copy operation.
  */
 
-py::bind_vector<
-    std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>>(
-    m_, "Point2Vector");
-py::bind_vector<std::vector<gtsam::Point2Pair>>(m_, "Point2Pairs");
-py::bind_vector<std::vector<gtsam::Point3Pair>>(m_, "Point3Pairs");
-py::bind_vector<std::vector<gtsam::Pose3Pair>>(m_, "Pose3Pairs");
-py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
     m_, "CameraSetCal3_S2");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(