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Wrap DSFMap so SFM can use them

release/4.3a0
Fan Jiang 2020-09-06 14:31:48 -04:00
parent 915702116f
commit e43f78bfe8
5 changed files with 66 additions and 5 deletions
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8
gtsam/base/DSFMap.h
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@ -120,4 +120,12 @@ class IndexPair : public std::pair<size_t,size_t> {
inline size_t i() const { return first; }; inline size_t i() const { return first; };
inline size_t j() const { return second; }; inline size_t j() const { return second; };
}; };
typedef std::vector<IndexPair> IndexPairVector;
typedef std::set<IndexPair> IndexPairSet;
inline IndexPairVector IndexPairSetAsArray(IndexPairSet& set) { return IndexPairVector(set.begin(), set.end()); }
typedef std::map<IndexPair, IndexPairSet> IndexPairSetMap;
typedef DSFMap<IndexPair> DSFMapIndexPair;
} // namespace gtsam } // namespace gtsam

58
gtsam/gtsam.i
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@ -259,11 +259,59 @@ class IndexPair {
size_t j() const; size_t j() const;
}; };
template<KEY = {gtsam::IndexPair}> // template<KEY = {gtsam::IndexPair}>
class DSFMap { // class DSFMap {
DSFMap(); // DSFMap();
KEY find(const KEY& key) const; // KEY find(const KEY& key) const;
void merge(const KEY& x, const KEY& y); // void merge(const KEY& x, const KEY& y);
// std::map<KEY, Set> sets();
// };
class IndexPairSet {
IndexPairSet();
// common STL methods
size_t size() const;
bool empty() const;
void clear();
// structure specific methods
void insert(gtsam::IndexPair key);
bool erase(gtsam::IndexPair key); // returns true if value was removed
bool count(gtsam::IndexPair key) const; // returns true if value exists
};
class IndexPairVector {
IndexPairVector();
IndexPairVector(const gtsam::IndexPairVector& other);
// common STL methods
size_t size() const;
bool empty() const;
void clear();
// structure specific methods
gtsam::IndexPair at(size_t i) const;
void push_back(gtsam::IndexPair key) const;
};
gtsam::IndexPairVector IndexPairSetAsArray(gtsam::IndexPairSet& set);
class IndexPairSetMap {
IndexPairSetMap();
// common STL methods
size_t size() const;
bool empty() const;
void clear();
// structure specific methods
gtsam::IndexPairSet at(gtsam::IndexPair& key);
};
class DSFMapIndexPair {
DSFMapIndexPair();
gtsam::IndexPair find(const gtsam::IndexPair& key) const;
void merge(const gtsam::IndexPair& x, const gtsam::IndexPair& y);
gtsam::IndexPairSetMap sets();
}; };
#include <gtsam/base/Matrix.h> #include <gtsam/base/Matrix.h>

2
python/CMakeLists.txt
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@ -30,6 +30,8 @@ set(ignore
gtsam::ISAM2ThresholdMapValue gtsam::ISAM2ThresholdMapValue
gtsam::FactorIndices gtsam::FactorIndices
gtsam::FactorIndexSet gtsam::FactorIndexSet
gtsam::IndexPairSetMap
gtsam::IndexPairVector
gtsam::BetweenFactorPose2s gtsam::BetweenFactorPose2s
gtsam::BetweenFactorPose3s gtsam::BetweenFactorPose3s
gtsam::Point2Vector gtsam::Point2Vector

1
python/gtsam/preamble.h
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@ -9,3 +9,4 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>); PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >); 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(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);

2
python/gtsam/specializations.h
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@ -9,3 +9,5 @@ py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point
py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector"); py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
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::Pose3> > > >(m_, "BetweenFactorPose3s");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s"); py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s");
py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");