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handle some TODOs

release/4.3a0
Varun Agrawal 2023-06-15 18:55:05 -04:00
parent f58ee917f0
commit a763944249
3 changed files with 7 additions and 9 deletions
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3
gtsam/nonlinear/GncParams.h
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@ -73,8 +73,7 @@ class GncParams {
double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS) double weightsTol = 1e-4; ///< If the weights are within weightsTol from being binary, stop iterating (only for TLS)
Verbosity verbosity = SILENT; ///< Verbosity level Verbosity verbosity = SILENT; ///< Verbosity level
//TODO(Varun) replace IndexVector with vector<size_t> once pybind11/stl.h is globally enabled. /// Use IndexVector for inliers and outliers since it is fast
/// Use IndexVector for inliers and outliers since it is fast + wrapping
using IndexVector = FastVector<uint64_t>; using IndexVector = FastVector<uint64_t>;
///< Slots in the factor graph corresponding to measurements that we know are inliers ///< Slots in the factor graph corresponding to measurements that we know are inliers
IndexVector knownInliers = IndexVector(); IndexVector knownInliers = IndexVector();

8
gtsam/nonlinear/nonlinear.i
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@ -305,8 +305,8 @@ virtual class GncParams {
double relativeCostTol; double relativeCostTol;
double weightsTol; double weightsTol;
gtsam::This::Verbosity verbosity; gtsam::This::Verbosity verbosity;
gtsam::KeyVector knownInliers; gtsam::This::IndexVector knownInliers;
gtsam::KeyVector knownOutliers; gtsam::This::IndexVector knownOutliers;
void setLossType(const gtsam::GncLossType type); void setLossType(const gtsam::GncLossType type);
void setMaxIterations(const size_t maxIter); void setMaxIterations(const size_t maxIter);
@ -314,8 +314,8 @@ virtual class GncParams {
void setRelativeCostTol(double value); void setRelativeCostTol(double value);
void setWeightsTol(double value); void setWeightsTol(double value);
void setVerbosityGNC(const gtsam::This::Verbosity value); void setVerbosityGNC(const gtsam::This::Verbosity value);
void setKnownInliers(const gtsam::KeyVector& knownIn); void setKnownInliers(const gtsam::This::IndexVector& knownIn);
void setKnownOutliers(const gtsam::KeyVector& knownOut); void setKnownOutliers(const gtsam::This::IndexVector& knownOut);
void print(const string& str = "GncParams: ") const; void print(const string& str = "GncParams: ") const;
enum Verbosity { enum Verbosity {

5
gtsam/sfm/sfm.i
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@ -225,10 +225,9 @@ class ShonanAveraging3 {
ShonanAveraging3(string g2oFile, ShonanAveraging3(string g2oFile,
const gtsam::ShonanAveragingParameters3& parameters); const gtsam::ShonanAveragingParameters3& parameters);
// TODO(frank): deprecate once we land pybind wrapper
ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors);
ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors, ShonanAveraging3(const gtsam::BetweenFactorPose3s& factors,
const gtsam::ShonanAveragingParameters3& parameters); const gtsam::ShonanAveragingParameters3& parameters =
gtsam::ShonanAveragingParameters3());
// Query properties // Query properties
size_t nrUnknowns() const; size_t nrUnknowns() const;