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remove unneeded code

release/4.3a0
Varun Agrawal 2022-01-31 13:33:09 -05:00
parent f5da852222
commit b93145cd89
8 changed files with 2 additions and 58 deletions
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3
gtsam/geometry/Rot3.h
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@ -564,9 +564,6 @@ class GTSAM_EXPORT Rot3 : public LieGroup<Rot3, 3> {
#endif
};
/// std::vector of Rot3s, mainly for wrapper
using Rot3Vector = std::vector<Rot3, Eigen::aligned_allocator<Rot3> >;
/**
* [RQ] receives a 3 by 3 matrix and returns an upper triangular matrix R
* and 3 rotation angles corresponding to the rotation matrix Q=Qz'*Qy'*Qx'

16
gtsam/sfm/sfm.i
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@ -29,13 +29,6 @@ class BinaryMeasurement {
typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
class BinaryMeasurementsUnit3 {
BinaryMeasurementsUnit3();
size_t size() const;
gtsam::BinaryMeasurement<gtsam::Unit3> at(size_t idx) const;
void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3>& measurement);
};
#include <gtsam/sfm/ShonanAveraging.h>
// TODO(frank): copy/pasta below until we have integer template paremeters in
@ -178,15 +171,6 @@ class ShonanAveraging3 {
#include <gtsam/sfm/MFAS.h>
class KeyPairDoubleMap {
KeyPairDoubleMap();
KeyPairDoubleMap(const gtsam::KeyPairDoubleMap& other);
size_t size() const;
bool empty() const;
void clear();
size_t at(const pair<size_t, size_t>& keypair) const;
};
class MFAS {
MFAS(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,

20
gtsam/slam/slam.i
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@ -268,24 +268,6 @@ void save2D(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& config, gtsam::noiseModel::Diagonal* model,
string filename);
// std::vector<gtsam::BetweenFactor<Pose2>::shared_ptr>
// Ignored by pybind -> will be List[BetweenFactorPose2]
class BetweenFactorPose2s {
BetweenFactorPose2s();
size_t size() const;
gtsam::BetweenFactor<gtsam::Pose2>* at(size_t i) const;
void push_back(const gtsam::BetweenFactor<gtsam::Pose2>* factor);
};
gtsam::BetweenFactorPose2s parse2DFactors(string filename);
// std::vector<gtsam::BetweenFactor<Pose3>::shared_ptr>
// Ignored by pybind -> will be List[BetweenFactorPose3]
class BetweenFactorPose3s {
BetweenFactorPose3s();
size_t size() const;
gtsam::BetweenFactor<gtsam::Pose3>* at(size_t i) const;
void push_back(const gtsam::BetweenFactor<gtsam::Pose3>* factor);
};
gtsam::BetweenFactorPose3s parse3DFactors(string filename);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load3D(string filename);
@ -323,7 +305,7 @@ virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
KarcherMeanFactor(const gtsam::KeyVector& keys);
};
gtsam::Rot3 FindKarcherMean(const gtsam::Rot3Vector& rotations);
gtsam::Rot3 FindKarcherMean(const std::vector<gtsam::Rot3>& rotations);
#include <gtsam/slam/FrobeniusFactor.h>
gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,

2
python/gtsam/gtsam.tpl
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@ -11,8 +11,8 @@
{include_boost}
#include <pybind11/eigen.h>
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
#include <pybind11/stl.h>
#include <pybind11/pybind11.h>
#include <pybind11/operators.h>
#include <pybind11/functional.h>

1
python/gtsam/preamble/base.h
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@ -12,5 +12,4 @@
*/
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Matrix>); // JacobianVector

6
python/gtsam/preamble/slam.h
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@ -10,9 +10,3 @@
* Without this they will be automatically converted to a Python object, and all
* mutations on Python side will not be reflected on C++.
*/
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(gtsam::Rot3Vector);

4
python/gtsam/specializations/sfm.h
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@ -10,7 +10,3 @@
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
m_, "BinaryMeasurementsUnit3");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");

8
python/gtsam/specializations/slam.h
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@ -10,11 +10,3 @@
* with `PYBIND11_MAKE_OPAQUE` this allows the types to be modified with Python,
* and saves one copy operation.
*/
py::bind_vector<
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3>>>>(
m_, "BetweenFactorPose3s");
py::bind_vector<
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2>>>>(
m_, "BetweenFactorPose2s");
py::bind_vector<gtsam::Rot3Vector>(m_, "Rot3Vector");