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Wrap EMFs

release/4.3a0
Frank Dellaert 2024-10-30 16:07:22 -07:00
parent f8d00f82f1
commit ce196d962f
2 changed files with 47 additions and 7 deletions
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4
gtsam/slam/EssentialMatrixFactor.h
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@ -354,7 +354,7 @@ class EssentialMatrixFactor4
* coordinates * coordinates
*/ */
EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB, EssentialMatrixFactor4(Key keyE, Key keyK, const Point2& pA, const Point2& pB,
const SharedNoiseModel& model) const SharedNoiseModel& model = nullptr)
: Base(model, keyE, keyK), pA_(pA), pB_(pB) {} : Base(model, keyE, keyK), pA_(pA), pB_(pB) {}
/// @return a deep copy of this factor /// @return a deep copy of this factor
@ -452,7 +452,7 @@ class EssentialMatrixFactor5
* coordinates * coordinates
*/ */
EssentialMatrixFactor5(Key keyE, Key keyKa, Key keyKb, const Point2& pA, EssentialMatrixFactor5(Key keyE, Key keyKa, Key keyKb, const Point2& pA,
const Point2& pB, const SharedNoiseModel& model) const Point2& pB, const SharedNoiseModel& model = nullptr)
: Base(model, keyE, keyKa, keyKb), pA_(pA), pB_(pB) {} : Base(model, keyE, keyKa, keyKb), pA_(pA), pB_(pB) {}
/// @return a deep copy of this factor /// @return a deep copy of this factor

50
gtsam/slam/slam.i
View File

@ -107,7 +107,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholePose<gtsam::Cal3Unified>,
gtsam::Point3> gtsam::Point3>
GeneralSFMFactorPoseCal3Unified; GeneralSFMFactorPoseCal3Unified;
template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::Cal3Fisheye, gtsam::Cal3Unified}> gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
GeneralSFMFactor2(const gtsam::Point2& measured, GeneralSFMFactor2(const gtsam::Point2& measured,
@ -221,15 +221,55 @@ typedef gtsam::PoseRotationPrior<gtsam::Pose3> PoseRotationPrior3D;
#include <gtsam/slam/EssentialMatrixFactor.h> #include <gtsam/slam/EssentialMatrixFactor.h>
virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor { virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
EssentialMatrixFactor(size_t key, const gtsam::Point2& pA, EssentialMatrixFactor(size_t key,
const gtsam::Point2& pB, const gtsam::Point2& pA, const gtsam::Point2& pB,
const gtsam::noiseModel::Base* noiseModel); const gtsam::noiseModel::Base* model);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::EssentialMatrixFactor& other, double tol) const;
gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E) const; gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E) const;
}; };
virtual class EssentialMatrixFactor2 : gtsam::NoiseModelFactor {
EssentialMatrixFactor2(size_t key1, size_t key2,
const gtsam::Point2& pA, const gtsam::Point2& pB,
const gtsam::noiseModel::Base* model);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E, double d) const;
};
virtual class EssentialMatrixFactor3 : gtsam::EssentialMatrixFactor2 {
EssentialMatrixFactor3(size_t key1, size_t key2,
const gtsam::Point2& pA, const gtsam::Point2& pB,
const gtsam::Rot3& cRb, const gtsam::noiseModel::Base* model);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E, double d) const;
};
template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
virtual class EssentialMatrixFactor4 : gtsam::NoiseModelFactor {
EssentialMatrixFactor4(size_t keyE, size_t keyK,
const gtsam::Point2& pA, const gtsam::Point2& pB,
const gtsam::noiseModel::Base* model = nullptr);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E, const CALIBRATION& K) const;
};
template <CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3f, gtsam::Cal3Bundler,
gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
virtual class EssentialMatrixFactor5 : gtsam::NoiseModelFactor {
EssentialMatrixFactor5(size_t keyE, size_t keyKa, size_t keyKb,
const gtsam::Point2& pA, const gtsam::Point2& pB,
const gtsam::noiseModel::Base* model = nullptr);
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
gtsam::Vector evaluateError(const gtsam::EssentialMatrix& E,
const CALIBRATION& Ka, const CALIBRATION& Kb) const;
};
#include <gtsam/slam/EssentialMatrixConstraint.h> #include <gtsam/slam/EssentialMatrixConstraint.h>
virtual class EssentialMatrixConstraint : gtsam::NoiseModelFactor { virtual class EssentialMatrixConstraint : gtsam::NoiseModelFactor {
EssentialMatrixConstraint(size_t key1, size_t key2, const gtsam::EssentialMatrix &measuredE, EssentialMatrixConstraint(size_t key1, size_t key2, const gtsam::EssentialMatrix &measuredE,