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fix geometry modules

release/4.3a0
Varun Agrawal 2022-01-31 12:15:43 -05:00
parent 394bb82dba
commit 19287ad5c8
3 changed files with 3 additions and 70 deletions
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54
gtsam/geometry/geometry.i
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@ -29,38 +29,6 @@ class Point2 {
void serialize() const; 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> #include <gtsam/geometry/StereoPoint2.h>
class StereoPoint2 { class StereoPoint2 {
@ -127,13 +95,6 @@ class Point3 {
void serialize() const; 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> #include <gtsam/geometry/Rot2.h>
class Rot2 { class Rot2 {
@ -486,21 +447,6 @@ class Pose3 {
void serialize() const; 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> #include <gtsam/geometry/Unit3.h>
class Unit3 { class Unit3 {

12
python/gtsam/preamble/geometry.h
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@ -10,7 +10,6 @@
* Without this they will be automatically converted to a Python object, and all * Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++. * mutations on Python side will not be reflected on C++.
*/ */
#include <pybind11/stl.h>
// Support for binding boost::optional types in C++11. // Support for binding boost::optional types in C++11.
// https://pybind11.readthedocs.io/en/stable/advanced/cast/stl.html // 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>> {}; 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::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>>);

7
python/gtsam/specializations/geometry.h
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@ -11,13 +11,6 @@
* and saves one copy operation. * 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>>>( py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
m_, "CameraSetCal3_S2"); m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>( py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(