From a763944249fbb9b2b5c3aadb53a38b2441d5868e Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Thu, 15 Jun 2023 18:55:05 -0400 Subject: [PATCH] handle some TODOs --- gtsam/nonlinear/GncParams.h | 3 +-- gtsam/nonlinear/nonlinear.i | 8 ++++---- gtsam/sfm/sfm.i | 5 ++--- 3 files changed, 7 insertions(+), 9 deletions(-) diff --git a/gtsam/nonlinear/GncParams.h b/gtsam/nonlinear/GncParams.h index 10ac80663..d05e72ee2 100644 --- a/gtsam/nonlinear/GncParams.h +++ b/gtsam/nonlinear/GncParams.h @@ -73,8 +73,7 @@ class GncParams { double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS) Verbosity verbosity = SILENT; ///< Verbosity level - //TODO(Varun) replace IndexVector with vector once pybind11/stl.h is globally enabled. - /// Use IndexVector for inliers and outliers since it is fast + wrapping + /// Use IndexVector for inliers and outliers since it is fast using IndexVector = FastVector; ///< Slots in the factor graph corresponding to measurements that we know are inliers IndexVector knownInliers = IndexVector(); diff --git a/gtsam/nonlinear/nonlinear.i b/gtsam/nonlinear/nonlinear.i index 19f4ae588..b47fd8a4c 100644 --- a/gtsam/nonlinear/nonlinear.i +++ b/gtsam/nonlinear/nonlinear.i @@ -305,8 +305,8 @@ virtual class GncParams { double relativeCostTol; double weightsTol; gtsam::This::Verbosity verbosity; - gtsam::KeyVector knownInliers; - gtsam::KeyVector knownOutliers; + gtsam::This::IndexVector knownInliers; + gtsam::This::IndexVector knownOutliers; void setLossType(const gtsam::GncLossType type); void setMaxIterations(const size_t maxIter); @@ -314,8 +314,8 @@ virtual class GncParams { void setRelativeCostTol(double value); void setWeightsTol(double value); void setVerbosityGNC(const gtsam::This::Verbosity value); - void setKnownInliers(const gtsam::KeyVector& knownIn); - void setKnownOutliers(const gtsam::KeyVector& knownOut); + void setKnownInliers(const gtsam::This::IndexVector& knownIn); + void setKnownOutliers(const gtsam::This::IndexVector& knownOut); void print(const string& str = "GncParams: ") const; enum Verbosity { diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i index 2198692e8..a9deaa895 100644 --- a/gtsam/sfm/sfm.i +++ b/gtsam/sfm/sfm.i @@ -225,10 +225,9 @@ class ShonanAveraging3 { ShonanAveraging3(string g2oFile, const gtsam::ShonanAveragingParameters3& parameters); - // TODO(frank): deprecate once we land pybind wrapper - ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors); ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors, - const gtsam::ShonanAveragingParameters3& parameters); + const gtsam::ShonanAveragingParameters3& parameters = + gtsam::ShonanAveragingParameters3()); // Query properties size_t nrUnknowns() const;