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Wrap FundamentalMatrix classes

release/4.3a0
Frank Dellaert 2024-10-26 15:57:16 -07:00
parent f206c2f1e5
commit e98acff79a
2 changed files with 51 additions and 0 deletions
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48
gtsam/geometry/geometry.i
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@ -903,6 +903,54 @@ class Cal3Bundler {
void serialize() const; void serialize() const;
}; };
#include <gtsam/geometry/FundamentalMatrix.h>
// FundamentalMatrix class
class FundamentalMatrix {
// Constructors
FundamentalMatrix();
FundamentalMatrix(const gtsam::Rot3& U, double s, const gtsam::Rot3& V);
FundamentalMatrix(const gtsam::Matrix3& F);
// Overloaded constructors for specific calibration types
FundamentalMatrix(const gtsam::Cal3_S2& Ka, const gtsam::Pose3& aPb,
const gtsam::Cal3_S2& Kb);
// Methods
gtsam::Matrix3 matrix() const;
// Testable
void print(const std::string& s = "") const;
bool equals(const gtsam::FundamentalMatrix& other, double tol = 1e-9) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Vector localCoordinates(const gtsam::FundamentalMatrix& F) const;
gtsam::FundamentalMatrix retract(const gtsam::Vector& delta) const;
};
// SimpleFundamentalMatrix class
class SimpleFundamentalMatrix {
// Constructors
SimpleFundamentalMatrix();
SimpleFundamentalMatrix(const gtsam::EssentialMatrix& E, double fa, double fb,
const gtsam::Point2& ca, const gtsam::Point2& cb);
// Methods
gtsam::Matrix3 matrix() const;
// Testable
void print(const std::string& s = "") const;
bool equals(const gtsam::SimpleFundamentalMatrix& other, double tol = 1e-9) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Vector localCoordinates(const gtsam::SimpleFundamentalMatrix& F) const;
gtsam::SimpleFundamentalMatrix retract(const gtsam::Vector& delta) const;
};
#include <gtsam/geometry/CalibratedCamera.h> #include <gtsam/geometry/CalibratedCamera.h>
class CalibratedCamera { class CalibratedCamera {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors

3
gtsam/nonlinear/nonlinear.i
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@ -11,6 +11,7 @@ namespace gtsam {
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/CalibratedCamera.h> #include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/EssentialMatrix.h> #include <gtsam/geometry/EssentialMatrix.h>
#include <gtsam/geometry/FundamentalMatrix.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Point2.h> #include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Point3.h> #include <gtsam/geometry/Point3.h>
@ -537,6 +538,8 @@ class ISAM2 {
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3, template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::Cal3Bundler, gtsam::FundamentalMatrix,
gtsam::Cal3Bundler, gtsam::SimpleFundamentalMatrix,
gtsam::PinholeCamera<gtsam::Cal3_S2>, gtsam::PinholeCamera<gtsam::Cal3_S2>,
gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCamera<gtsam::Cal3Fisheye>, gtsam::PinholeCamera<gtsam::Cal3Fisheye>,