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Wrap Cal3_S2 to python

release/4.3a0
Ellon Mendes 2015-11-23 16:07:07 +01:00
parent 818db17392
commit 6196f95301
2 changed files with 64 additions and 0 deletions
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2
python/handwritten/exportgtsam.cpp
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@ -35,6 +35,7 @@ void exportRot3();
void exportPose2(); void exportPose2();
void exportPose3(); void exportPose3();
void exportPinholeCamera(); void exportPinholeCamera();
void exportCal3_S2();
// Inference // Inference
void exportSymbol(); void exportSymbol();
@ -72,6 +73,7 @@ BOOST_PYTHON_MODULE(libgtsam_python){
exportPose2(); exportPose2();
exportPose3(); exportPose3();
exportPinholeCamera(); exportPinholeCamera();
exportCal3_S2();
exportSymbol(); exportSymbol();

62
python/handwritten/geometry/Cal3_S2.cpp Normal file
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@ -0,0 +1,62 @@
/* ----------------------------------------------------------------------------
* 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 Cal3_S2 class to python
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
#include <boost/python.hpp>
#define NO_IMPORT_ARRAY
#include <numpy_eigen/NumpyEigenConverter.hpp>
#include "gtsam/geometry/Cal3_S2.h"
using namespace boost::python;
using namespace gtsam;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Cal3_S2::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Cal3_S2::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(uncalibrate_overloads, Cal3_S2::uncalibrate, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(calibrate_overloads, Cal3_S2::calibrate, 1, 3)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Cal3_S2::between, 1, 3)
// Function pointers to desambiguate Cal3_S2::calibrate calls
Point2 (Cal3_S2::*calibrate1)(const Point2 &, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp) const = &Cal3_S2::calibrate;
Vector3 (Cal3_S2::*calibrate2)(const Vector3 &) const = &Cal3_S2::calibrate;
void exportCal3_S2(){
class_<Cal3_S2>("Cal3_S2", init<>())
.def(init<double,double,double,double,double>())
.def(init<const Vector &>())
.def(init<double,int,int>())
.def(init<std::string>())
.def("print", &Cal3_S2::print, print_overloads(args("s")))
.def("equals", &Cal3_S2::equals, equals_overloads(args("q","tol")))
.def("fx",&Cal3_S2::fx)
.def("fy",&Cal3_S2::fy)
.def("skew",&Cal3_S2::skew)
.def("px",&Cal3_S2::px)
.def("py",&Cal3_S2::py)
.def("principal_point",&Cal3_S2::principalPoint)
.def("vector",&Cal3_S2::vector)
.def("k",&Cal3_S2::K)
.def("matrix",&Cal3_S2::matrix)
.def("matrix_inverse",&Cal3_S2::matrix_inverse)
.def("uncalibrate",&Cal3_S2::uncalibrate, uncalibrate_overloads())
.def("calibrate",calibrate1, calibrate_overloads())
.def("calibrate",calibrate2)
.def("between",&Cal3_S2::between, between_overloads())
;
}