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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> #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 { class SfmTrack {
SfmTrack(); SfmTrack();
Point3 point3() const; Point3 point3() const;
size_t number_measurements() const; size_t number_measurements() const;
void setP(gtsam::Point3& p_); void setP(gtsam::Point3& p_);
gtsam::SfmMeasurement measurement(size_t idx) const; pair<size_t, gtsam::Point2> measurement(size_t idx) const;
gtsam::SiftIndex siftIndex(size_t idx) const; pair<size_t, size_t> siftIndex(size_t idx) const;
void add_measurement(const pair<size_t, gtsam::Point2>& m); void add_measurement(const pair<size_t, gtsam::Point2>& m);
SfmMeasurements& measurements();
}; };
class SfmData { class SfmData {
@ -2792,7 +2777,7 @@ class SfmData {
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const; gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
gtsam::SfmTrack track(size_t idx) const; gtsam::SfmTrack track(size_t idx) const;
void add_track(const gtsam::SfmTrack& t) ; 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); gtsam::SfmData readBal(string filename);

11
gtsam/slam/dataset.h
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@ -228,7 +228,7 @@ struct SfmTrack {
return measurements.size(); return measurements.size();
} }
/// Set 3D point /// Set 3D point
void setP(Point3& p_){ void setP(const Point3& p_){
p = p_; p = p_;
} }
@ -243,13 +243,10 @@ struct SfmTrack {
Point3 point3() const { Point3 point3() const {
return p; 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); measurements.push_back(m);
} }
SfmMeasurements& measurements() {
return measurements;
}
}; };
@ -278,11 +275,11 @@ struct SfmData {
return tracks[idx]; return tracks[idx];
} }
void add_track(SfmTrack& t) const { void add_track(const SfmTrack& t) {
tracks.push_back(t); tracks.push_back(t);
} }
void add_camera(SfmCamera& cam) const{ void add_camera(const SfmCamera& cam){
cameras.push_back(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::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >); 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::IndexPair>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>); //PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>); //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_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector"); py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap"); py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement"); //py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector"); //py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");