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Wrap GenericProjectionFactor to python

release/4.3a0
Ellon Mendes 2015-11-23 19:06:24 +01:00
parent 6196f95301
commit c878278687
2 changed files with 56 additions and 0 deletions
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2
python/handwritten/exportgtsam.cpp
View File

@ -53,6 +53,7 @@ void exportISAM2();
// Slam
void exportPriorFactors();
void exportBetweenFactors();
void exportGenericProjectionFactor();
// Utils (or Python wrapper specific functions)
void registerNumpyEigenConversions();
@ -87,4 +88,5 @@ BOOST_PYTHON_MODULE(libgtsam_python){
exportPriorFactors();
exportBetweenFactors();
exportGenericProjectionFactor();
}

54
python/handwritten/slam/GenericProjectionFactor.cpp Normal file
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@ -0,0 +1,54 @@
/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
/**
* @brief wraps GenericProjectionFactor for several values to python
* @author Ellon Paiva Mendes (LAAS-CNRS)
**/
#include <boost/python.hpp>
#define NO_IMPORT_ARRAY
#include <numpy_eigen/NumpyEigenConverter.hpp>
#include "gtsam/slam/ProjectionFactor.h"
#include "gtsam/geometry/Pose3.h"
#include "gtsam/geometry/Point3.h"
#include "gtsam/geometry/Cal3_S2.h"
using namespace boost::python;
using namespace gtsam;
using namespace std;
typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2;
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, GenericProjectionFactorCal3_S2::print, 0, 1)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, GenericProjectionFactorCal3_S2::equals, 1, 2)
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(evaluateError_overloads, GenericProjectionFactorCal3_S2::evaluateError, 2, 4)
void exportGenericProjectionFactor()
{
class_<GenericProjectionFactorCal3_S2, bases<NonlinearFactor> >("GenericProjectionFactorCal3_S2", init<>())
.def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, optional<Pose3> >())
.def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, bool, bool, optional<Pose3> >())
.def("print", &GenericProjectionFactorCal3_S2::print, print_overloads(args("s")))
.def("equals", &GenericProjectionFactorCal3_S2::equals, equals_overloads(args("q","tol")))
.def("evaluate_error", &GenericProjectionFactorCal3_S2::evaluateError, evaluateError_overloads())
.def("measured", &GenericProjectionFactorCal3_S2::measured, return_value_policy<copy_const_reference>())
// TODO(Ellon): Find the right return policy when returning a 'const shared_ptr<...> &'
// .def("calibration", &GenericProjectionFactorCal3_S2::calibration, return_value_policy<copy_const_reference>())
.def("verbose_cheirality", &GenericProjectionFactorCal3_S2::verboseCheirality)
.def("throw_cheirality", &GenericProjectionFactorCal3_S2::throwCheirality)
;
}