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add to preamble/specialization

release/4.3a0
senselessdev1 2022-09-26 11:36:39 -04:00
parent a2109a2437
commit 2434dc8ab7
6 changed files with 25 additions and 6 deletions
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4
gtsam/sfm/DsfTrackGenerator.h
View File

@ -94,6 +94,10 @@ class SfmTrack2d {
}
};
using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
/**
* @brief Generates point tracks from connected components in the keypoint matches graph.
*/

12
gtsam/sfm/sfm.i
View File

@ -49,10 +49,20 @@ class SfmTrack2d
bool hasUniqueCameras();
};
class SfmTrack2dVector {
SfmTrack2dVector();
SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
void push_back(const gtsam::SfmTrack2d& keypoints);
size_t size() const;
bool empty() const;
void clear();
gtsam::SfmTrack2d at(const size_t& index) const;
};
class DsfTrackGenerator {
DsfTrackGenerator();
std::vector<gtsam::SfmTrack2d> generate_tracks_from_pairwise_matches(
const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
const gtsam::MatchIndicesMap& matches_dict,
const gtsam::KeypointsList& keypoints_list);
};

3
python/CMakeLists.txt
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@ -152,7 +152,8 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
gtsam::CameraSetCal3Fisheye
gtsam::KeyPairDoubleMap
gtsam::MatchIndicesMap
gtsam::KeypointsList)
gtsam::KeypointsList
gtsam::SfmTrack2dVector)
pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target

3
python/gtsam/preamble/sfm.h
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@ -26,6 +26,7 @@ PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::Keypoints>);
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::SfmTrack2d>);
PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);

3
python/gtsam/specializations/sfm.h
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@ -37,3 +37,6 @@ py::bind_vector<
std::vector<std::pair<size_t, gtsam::Point2>>>(
m_, "SfmMeasurementVector"
);
py::bind_vector<
std::vector<gtsam::SfmTrack2d> >(
m_, "SfmTrack2dVector");

6
python/gtsam/tests/test_DsfTrackGenerator.py
View File

@ -8,7 +8,7 @@ import unittest
import numpy as np
import gtsam
from gtsam import DsfTrackGenerator, Keypoints, KeypointsList, MatchIndicesMap
from gtsam import DsfTrackGenerator, IndexPair, Keypoints, KeypointsList, MatchIndicesMap
from gtsam.utils.test_case import GtsamTestCase
@ -28,8 +28,8 @@ class TestDsfTrackGenerator(GtsamTestCase):
# For each image pair (i1,i2), we provide a (K,2) matrix of corresponding image indices (k1,k2).
matches_dict = MatchIndicesMap()
matches_dict[gtsam.IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
matches_dict[gtsam.IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
assert len(tracks) == 3