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wrapped sfmtrack

release/4.3a0
Sushmita 2020-10-21 23:44:02 -04:00
parent 045780a151
commit a68b0798f9
4 changed files with 11 additions and 29 deletions
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21
gtsam/gtsam.i
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@ -2759,30 +2759,15 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
};
#include <gtsam/slam/dataset.h>
class SfmMeasurement{
SfmMeasurement();
size_t i() const;
Point2 j() const;
};
class SiftIndex{
SiftIndex();
size_t i() const;
size_t j() const;
};
class SfmMeasurements{
SfmMeasurements();
};
class SfmTrack {
SfmTrack();
Point3 point3() const;
size_t number_measurements() const;
void setP(gtsam::Point3& p_);
gtsam::SfmMeasurement measurement(size_t idx) const;
gtsam::SiftIndex siftIndex(size_t idx) const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;
void add_measurement(const pair<size_t, gtsam::Point2>& m);
SfmMeasurements& measurements();
};
class SfmData {
@ -2792,7 +2777,7 @@ class SfmData {
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
gtsam::SfmTrack track(size_t idx) const;
void add_track(const gtsam::SfmTrack& t) ;
void add_camera(const gtsam::SfmCamer& cam);
void add_camera(const gtsam::SfmCamera& cam);
};
gtsam::SfmData readBal(string filename);

11
gtsam/slam/dataset.h
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@ -228,7 +228,7 @@ struct SfmTrack {
return measurements.size();
}
/// Set 3D point
void setP(Point3& p_){
void setP(const Point3& p_){
p = p_;
}
@ -243,13 +243,10 @@ struct SfmTrack {
Point3 point3() const {
return p;
}
void add_measurement(pair<size_t, gtsam::Point2>& m) const{
void add_measurement(const pair<size_t, gtsam::Point2>& m) {
measurements.push_back(m);
}
SfmMeasurements& measurements() {
return measurements;
}
};
@ -278,11 +275,11 @@ struct SfmData {
return tracks[idx];
}
void add_track(SfmTrack& t) const {
void add_track(const SfmTrack& t) {
tracks.push_back(t);
}
void add_camera(SfmCamera& cam) const{
void add_camera(const SfmCamera& cam){
cameras.push_back(cam);
}
};

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(std::vector<gtsam::SfmMeasurement>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);
//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);

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<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");
//py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
//py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");