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Merge pull request #1846 from borglab/wrap-triangulation-factor

release/4.3a0
Varun Agrawal 2024-09-26 18:52:01 -04:00 committed by GitHub
parent 8d5ff15c25 580dcb27f4
commit d72d23cd3c
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
5 changed files with 55 additions and 15 deletions
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10
cmake/Config.cmake.in
View File

@ -15,10 +15,12 @@ endif()
# Find dependencies, required by cmake exported targets:
include(CMakeFindDependencyMacro)
# Allow using cmake < 3.8
if(${CMAKE_VERSION} VERSION_LESS "3.8.0")
find_package(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
else()
find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
if (@GTSAM_ENABLE_BOOST_SERIALIZATION@ OR @GTSAM_USE_BOOST_FEATURES@)
if(${CMAKE_VERSION} VERSION_LESS "3.8.0")
find_package(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
else()
find_dependency(Boost @BOOST_FIND_MINIMUM_VERSION@ COMPONENTS @BOOST_FIND_MINIMUM_COMPONENTS@)
endif()
endif()
if(@GTSAM_USE_TBB@)

8
gtsam/inference/Factor.h
View File

@ -24,13 +24,13 @@
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
#include <boost/serialization/nvp.hpp>
#endif
#include <memory>
#include <algorithm>
#include <gtsam/base/types.h>
#include <gtsam/base/FastVector.h>
#include <gtsam/base/types.h>
#include <gtsam/inference/Key.h>
#include <algorithm>
#include <memory>
namespace gtsam {
/// Define collection types:

5
gtsam/slam/TriangulationFactor.h
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@ -34,6 +34,8 @@ public:
/// CAMERA type
using Camera = CAMERA;
/// shorthand for measurement type, e.g. Point2 or StereoPoint2
using Measurement = typename CAMERA::Measurement;
protected:
@ -43,9 +45,6 @@ protected:
/// shorthand for this class
using This = TriangulationFactor<CAMERA>;
/// shorthand for measurement type, e.g. Point2 or StereoPoint2
using Measurement = typename CAMERA::Measurement;
// Keep a copy of measurement and calibration for I/O
const CAMERA camera_; ///< CAMERA in which this landmark was seen
const Measurement measured_; ///< 2D measurement

39
gtsam/slam/slam.i
View File

@ -348,6 +348,45 @@ virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor {
gtsam::Vector evaluateError(const T& R1, const T& R2);
};
#include <gtsam/slam/TriangulationFactor.h>
template <CAMERA>
virtual class TriangulationFactor : gtsam::NoiseModelFactor {
TriangulationFactor();
TriangulationFactor(const CAMERA& camera, const gtsam::This::Measurement& measured,
const gtsam::noiseModel::Base* model, gtsam::Key pointKey,
bool throwCheirality = false,
bool verboseCheirality = false);
void print(const string& s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const This& p, double tol = 1e-9) const;
gtsam::Vector evaluateError(const gtsam::Point3& point) const;
const gtsam::This::Measurement& measured() const;
};
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>>
TriangulationFactorCal3_S2;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3DS2>>
TriangulationFactorCal3DS2;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>>
TriangulationFactorCal3Bundler;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>
TriangulationFactorCal3Fisheye;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Unified>>
TriangulationFactorCal3Unified;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3_S2>>
TriangulationFactorPoseCal3_S2;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3DS2>>
TriangulationFactorPoseCal3DS2;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Bundler>>
TriangulationFactorPoseCal3Bundler;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Fisheye>>
TriangulationFactorPoseCal3Fisheye;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Unified>>
TriangulationFactorPoseCal3Unified;
#include <gtsam/slam/lago.h>
namespace lago {
gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, bool useOdometricPath = true);

4
python/CMakeLists.txt
View File

@ -257,7 +257,7 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
COMMAND
${CMAKE_COMMAND} -E env
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var gtsam_unstable
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var --ignore-all-errors gtsam_unstable
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} ${GTSAM_PYTHON_UNSTABLE_TARGET}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/"
)
@ -284,7 +284,7 @@ add_custom_target(
COMMAND
${CMAKE_COMMAND} -E env
"PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var gtsam
pybind11-stubgen -o . --enum-class-locations \"KernelFunctionType|NoiseFormat:gtsam.gtsam\" --enum-class-locations \"OrderingType:gtsam.gtsam.Ordering\" --numpy-array-use-type-var --ignore-all-errors gtsam
DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES} ${GTSAM_PYTHON_TARGET}
WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/"
)