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Wrapped safe triangulation versions

release/4.3a0
Frank Dellaert 2022-05-11 00:04:42 -04:00
parent 02828e2ec7
commit 8333c8f15c
1 changed files with 33 additions and 0 deletions
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33
gtsam/geometry/geometry.i
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@ -1094,6 +1094,19 @@ virtual class TriangulationResult : boost::optional<gtsam::Point3> {
Status status;
};
class TriangulationParameters {
double rankTolerance;
bool enableEPI;
double landmarkDistanceThreshold;
double dynamicOutlierRejectionThreshold;
SharedNoiseModel noiseModel;
TriangulationParameters(const double rankTolerance = 1.0,
const bool enableEPI = false,
double landmarkDistanceThreshold = -1,
double dynamicOutlierRejectionThreshold = -1,
const gtsam::SharedNoiseModel& noiseModel = nullptr);
};
// Templates appear not yet supported for free functions - issue raised at
// borglab/wrap#14 to add support
@ -1114,6 +1127,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
// Cal3DS2 versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
@ -1132,6 +1149,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
// Cal3Bundler versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
@ -1150,6 +1171,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
// Cal3Fisheye versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
@ -1168,6 +1193,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);
// Cal3Unified versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
@ -1186,6 +1215,10 @@ gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::TriangulationResult triangulateSafe(
const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::TriangulationParameters& params);