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templated functions where possible

release/4.3a0
Sushmita 2020-12-01 19:31:44 -05:00
parent e484a70b5f
commit 8fd2d98424
6 changed files with 22 additions and 31 deletions
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7
gtsam/geometry/triangulation.h
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@ -497,8 +497,11 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
}
// Vector of Cameras - used by the Python/MATLAB wrapper
typedef CameraSet<PinholeCamera<Cal3Bundler>> CameraSetCal3Bundler;
typedef CameraSet<PinholeCamera<Cal3_S2>> CameraSetCal3_S2;
//typedef CameraSet<PinholeCamera<Cal3Bundler>> CameraSetCal3Bundler;
//typedef CameraSet<PinholeCamera<Cal3_S2>> CameraSetCal3_S2;
using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
} // \namespace gtsam

34
gtsam/gtsam.i
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@ -1109,31 +1109,22 @@ typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
class CameraSetCal3Bundler {
CameraSetCal3Bundler();
template<T = {gtsam::PinholeCameraCal3Bundler, gtsam::PinholeCameraCal3_S2}>
class CameraSet {
CameraSet();
// common STL methods
size_t size() const;
bool empty() const;
void clear();
// // common STL methods
// size_t size() const;
// bool empty() const;
// void clear();
// structure specific methods
gtsam::PinholeCameraCal3Bundler at(size_t i) const;
void push_back(const gtsam::PinholeCameraCal3Bundler& cam);
// // structure specific methods
// T at(size_t i) const;
void push_back(const T& cam);
};
class CameraSetCal3_S2 {
CameraSetCal3_S2();
// common STL methods
size_t size() const;
bool empty() const;
void clear();
// structure specific methods
gtsam::PinholeCameraCal3_S2 at(size_t i) const;
void push_back(const gtsam::PinholeCameraCal3_S2& cam);
};
typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;
typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler;
#include <gtsam/geometry/StereoCamera.h>
class StereoCamera {
@ -1166,7 +1157,6 @@ class StereoCamera {
#include <gtsam/geometry/triangulation.h>
// Templates appear not yet supported for free functions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);

2
python/CMakeLists.txt
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@ -38,8 +38,6 @@ set(ignore
gtsam::Pose3Vector
gtsam::KeyVector
gtsam::BinaryMeasurementsUnit3
gtsam::CameraSetCal3Bundler
gtsam::CameraSetCal3_S2
gtsam::KeyPairDoubleMap)
pybind_wrap(gtsam_py # target

4
python/gtsam/preamble.h
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@ -10,5 +10,5 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
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::Cal3Bundler> >);
//PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);

4
python/gtsam/specializations.h
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@ -13,5 +13,5 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");
// py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
// py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");

2
python/gtsam/tests/test_Triangulation.py
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@ -56,7 +56,7 @@ class TestVisualISAMExample(GtsamTestCase):
rank_tol = 1e-9
triangulated_landmark = triangulatePoint3(poses,sharedCal, measurements, rank_tol, optimize)
self.gtsamAssertEquals(self.landmark, triangulated_landmark,1e-9)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
# 2. Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
measurements = Point2Vector()