Wrap PinholeBaseK to python and declare it as parent of PinholeCamera

python/handwritten/exportgtsam.cpp

@@ -34,6 +34,7 @@ void exportRot2();
 void exportRot3();
 void exportPose2();
 void exportPose3();
+void exportPinholeBaseK();
 void exportPinholeCamera();
 void exportCal3_S2();
 
@@ -73,6 +74,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){
   exportRot3();
   exportPose2();
   exportPose3();
+  exportPinholeBaseK();
   exportPinholeCamera();
   exportCal3_S2();
 

python/handwritten/geometry/PinholeBaseK.cpp

@@ -0,0 +1,66 @@
+/* ----------------------------------------------------------------------------
+
+ * 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;
+
+typedef PinholeBaseK<Cal3_S2> PinholeBaseKCal3_S2;
+
+// Wrapper on PinholeBaseK<Cal3_S2> because it has pure virtual method calibration()
+struct PinholeBaseKCal3_S2Callback : PinholeBaseKCal3_S2, wrapper<PinholeBaseKCal3_S2>
+{
+  const Cal3_S2 & calibration () const {
+    return this->get_override("calibration")();
+  }
+};
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(project_overloads, PinholeBaseKCal3_S2::project, 2, 4)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, PinholeBaseKCal3_S2::range, 1, 3)
+
+// Function pointers to desambiguate project() calls
+Point2  (PinholeBaseKCal3_S2::*project1) (const Point3 &pw) const = &PinholeBaseKCal3_S2::project;
+Point2  (PinholeBaseKCal3_S2::*project2) (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
+Point2  (PinholeBaseKCal3_S2::*project3) (const Unit3 &pw,  OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 2 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
+
+// function pointers to desambiguate range() calls
+double (PinholeBaseKCal3_S2::*range1) (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 3 > Dpoint) const = &PinholeBaseKCal3_S2::range;
+double (PinholeBaseKCal3_S2::*range2) (const Pose3 &pose,   OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dpose)  const = &PinholeBaseKCal3_S2::range;
+double (PinholeBaseKCal3_S2::*range3) (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dother) const = &PinholeBaseKCal3_S2::range;
+
+void exportPinholeBaseK(){
+
+  class_<PinholeBaseKCal3_S2Callback, boost::noncopyable>("PinholeBaseKCal3_S2", no_init)
+    .def("calibration", pure_virtual(&PinholeBaseKCal3_S2::calibration), return_value_policy<copy_const_reference>())
+    .def("project", project1)
+    .def("project", project2, project_overloads())
+    .def("project", project3, project_overloads())
+    .def("backproject", &PinholeBaseKCal3_S2::backproject)
+    .def("backproject_point_at_infinity", &PinholeBaseKCal3_S2::backprojectPointAtInfinity)
+    .def("range", range1, range_overloads())
+    .def("range", range2, range_overloads())
+    .def("range", range3, range_overloads())
+  ;
+
+}

python/handwritten/geometry/PinholeCamera.cpp

@@ -22,27 +22,29 @@
 #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)
+typedef PinholeBaseK<Cal3_S2> PinholeBaseKCal3_S2;
+typedef PinholeCamera<Cal3_S2> PinholeCameraCal3_S2;
+
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCameraCal3_S2::print, 0, 1)
+BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCameraCal3_S2::equals, 1, 2)
+BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCameraCal3_S2::Lookat, 3, 4)
 
 void exportPinholeCamera(){
 
-class_<PinholeCamera<Cal3_S2> >("PinholeCameraCal3_S2")
-  .def(init<>())
+class_<PinholeCameraCal3_S2, bases<PinholeBaseKCal3_S2> >("PinholeCameraCal3_S2", 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())
+  .def("print", &PinholeCameraCal3_S2::print, print_overloads(args("s")))
+  .def("equals", &PinholeCameraCal3_S2::equals, equals_overloads(args("q","tol")))
+  .def("pose", &PinholeCameraCal3_S2::pose, return_value_policy<copy_const_reference>())
+  // We don't need to define calibration() here because it's already defined as virtual in the base class PinholeBaseKCal3_S2
+  // .def("calibration", &PinholeCameraCal3_S2::calibration, return_value_policy<copy_const_reference>())
+  .def("Lookat", &PinholeCameraCal3_S2::Lookat, Lookat_overloads())
   .staticmethod("Lookat")
 ;