use gtsam.gtsfm namespace for new API

gtsam/sfm/DsfTrackGenerator.h

@@ -30,6 +30,8 @@
 
 namespace gtsam {
 
+namespace gtsfm {
+
 typedef DSFMap<IndexPair> DSFMapIndexPair;
 typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
 
@@ -54,7 +56,7 @@ struct Keypoints {
   /// Optional confidences/responses for each detection, of shape N.
   boost::optional<gtsam::Vector> responses;
 
-  Keypoints(const gtsam::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
+  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates): coordinates(coordinates) {}; // boost::none
 };
 
 using KeypointsVector = std::vector<Keypoints>;
@@ -119,7 +121,7 @@ class SfmTrack2d {
   }
 };
 
-using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
+using SfmTrack2dVector = std::vector<gtsam::gtsfm::SfmTrack2d>;
 using NamedSfmMeasurementVector = std::vector<NamedSfmMeasurement>;
 
 
@@ -216,5 +218,7 @@ class DsfTrackGenerator {
   }
 };
 
+}///\namespace gtsfm
+
 } // namespace gtsam
 

gtsam/sfm/sfm.i

@@ -4,34 +4,36 @@
 
 namespace gtsam {
 
+namespace gtsfm {
+
 #include <gtsam/sfm/DsfTrackGenerator.h>
 
 class MatchIndicesMap {
   MatchIndicesMap();
-  MatchIndicesMap(const gtsam::MatchIndicesMap& other);
+  MatchIndicesMap(const gtsam::gtsfm::MatchIndicesMap& other);
 
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
+  gtsam::gtsfm::CorrespondenceIndices at(const pair<size_t, size_t>& keypair) const;
 };
 
 
 class Keypoints
 {
-  Keypoints(const gtsam::KeypointCoordinates& coordinates);
-  gtsam::KeypointCoordinates coordinates;
+  Keypoints(const gtsam::gtsfm::KeypointCoordinates& coordinates);
+  gtsam::gtsfm::KeypointCoordinates coordinates;
 }; // check if this should be a method
 
 
 class KeypointsVector {
   KeypointsVector();
-  KeypointsVector(const gtsam::KeypointsVector& other);
-  void push_back(const gtsam::Keypoints& keypoints);
+  KeypointsVector(const gtsam::gtsfm::KeypointsVector& other);
+  void push_back(const gtsam::gtsfm::Keypoints& keypoints);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::Keypoints at(const size_t& index) const;
+  gtsam::gtsfm::Keypoints at(const size_t& index) const;
 };
 
 
@@ -44,44 +46,44 @@ class NamedSfmMeasurement
 
 class NamedSfmMeasurementVector {
   NamedSfmMeasurementVector();
-  NamedSfmMeasurementVector(const gtsam::NamedSfmMeasurementVector& other);
-  void push_back(const gtsam::NamedSfmMeasurement& measurement);
+  NamedSfmMeasurementVector(const gtsam::gtsfm::NamedSfmMeasurementVector& other);
+  void push_back(const gtsam::gtsfm::NamedSfmMeasurement& measurement);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::NamedSfmMeasurement at(const size_t& index) const;
+  gtsam::gtsfm::NamedSfmMeasurement at(const size_t& index) const;
 };
 
 class SfmTrack2d
 {
   SfmTrack2d();
-  SfmTrack2d(std::vector<gtsam::NamedSfmMeasurement> &measurements);
+  SfmTrack2d(std::vector<gtsam::gtsfm::NamedSfmMeasurement> &measurements);
   size_t numberMeasurements() const;
-  void addMeasurement(const gtsam::NamedSfmMeasurement &m);
-  std::vector<gtsam::NamedSfmMeasurement> measurements();
-  gtsam::NamedSfmMeasurement measurement(size_t idx) const;
+  void addMeasurement(const gtsam::gtsfm::NamedSfmMeasurement &m);
+  std::vector<gtsam::gtsfm::NamedSfmMeasurement> measurements();
+  gtsam::gtsfm::NamedSfmMeasurement measurement(size_t idx) const;
   bool hasUniqueCameras();
 };
 
 class SfmTrack2dVector {
   SfmTrack2dVector();
-  SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
-  void push_back(const gtsam::SfmTrack2d& track);
+  SfmTrack2dVector(const gtsam::gtsfm::SfmTrack2dVector& other);
+  void push_back(const gtsam::gtsfm::SfmTrack2d& track);
   size_t size() const;
   bool empty() const;
   void clear();
-  gtsam::SfmTrack2d at(const size_t& index) const;
+  gtsam::gtsfm::SfmTrack2d at(const size_t& index) const;
 };
 
 
 class DsfTrackGenerator {
   DsfTrackGenerator();
-  const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
-    const gtsam::MatchIndicesMap& matches_dict,
-    const gtsam::KeypointsVector& keypoints_list,
+  const gtsam::gtsfm::SfmTrack2dVector generate_tracks_from_pairwise_matches(
+    const gtsam::gtsfm::MatchIndicesMap& matches_dict,
+    const gtsam::gtsfm::KeypointsVector& keypoints_list,
     bool verbose = false);
 };
-
+}///\namespace gtsfm
 
 #include <gtsam/nonlinear/NonlinearFactorGraph.h>
 #include <gtsam/nonlinear/Values.h>

python/CMakeLists.txt

@@ -52,10 +52,10 @@ set(ignore
     gtsam::BinaryMeasurementsRot3
     gtsam::DiscreteKey
     gtsam::KeyPairDoubleMap
-    gtsam::MatchIndicesMap
-    gtsam::KeypointsVector
-    gtsam::SfmTrack2dVector
-    gtsam::NamedSfmMeasurementVector)
+    gtsam::gtsfm::MatchIndicesMap
+    gtsam::gtsfm::KeypointsVector
+    gtsam::gtsfm::SfmTrack2dVector
+    gtsam::gtsfm::NamedSfmMeasurementVector)
 
 set(interface_headers
     ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@@ -153,10 +153,10 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
             gtsam::CameraSetCal3Unified
             gtsam::CameraSetCal3Fisheye
             gtsam::KeyPairDoubleMap
-            gtsam::MatchIndicesMap
-            gtsam::KeypointsVector
-            gtsam::SfmTrack2dVector
-            gtsam::NamedSfmMeasurementVector)
+            gtsam::gtsfm::MatchIndicesMap
+            gtsam::gtsfm::KeypointsVector
+            gtsam::gtsfm::SfmTrack2dVector
+            gtsam::gtsfm::NamedSfmMeasurementVector)
 
 
     pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target

python/gtsam/preamble/sfm.h

@@ -24,7 +24,7 @@ PYBIND11_MAKE_OPAQUE(
 PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>);
 PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::Keypoints>);
-PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
+    std::vector<gtsam::gtsfm::Keypoints>);
+PYBIND11_MAKE_OPAQUE(gtsam::gtsfm::MatchIndicesMap);
 PYBIND11_MAKE_OPAQUE(
-    std::vector<gtsam::NamedSfmMeasurement>);
+    std::vector<gtsam::gtsfm::NamedSfmMeasurement>);

python/gtsam/specializations/sfm.h

@@ -18,29 +18,25 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Rot3> > >(
     m_, "BinaryMeasurementsRot3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
-py::bind_map<gtsam::MatchIndicesMap>(m_, "MatchIndicesMap");
-
-py::bind_vector<
-    std::vector<gtsam::Keypoints> >(
-    m_, "KeypointsVector");
-
-
 py::bind_vector<
     std::vector<gtsam::SfmTrack> >(
     m_, "SfmTracks");
-
 py::bind_vector<
     std::vector<gtsam::SfmCamera> >(
     m_, "SfmCameras");
-
 py::bind_vector<
     std::vector<std::pair<size_t, gtsam::Point2>>>(
         m_, "SfmMeasurementVector"
     );
-py::bind_vector<
-    std::vector<gtsam::SfmTrack2d> >(
-    m_, "SfmTrack2dVector");
 
 py::bind_vector<
-    std::vector<gtsam::NamedSfmMeasurement> >(
+    std::vector<gtsam::gtsfm::SfmTrack2d> >(
+    m_, "SfmTrack2dVector");
+py::bind_vector<
+    std::vector<gtsam::gtsfm::NamedSfmMeasurement> >(
     m_, "NamedSfmMeasurementVector");
+py::bind_map<gtsam::gtsfm::MatchIndicesMap>(m_, "MatchIndicesMap");
+
+py::bind_vector<
+    std::vector<gtsam::gtsfm::Keypoints> >(
+    m_, "KeypointsVector");

python/gtsam/tests/test_DsfTrackGenerator.py

@@ -8,14 +8,11 @@ import unittest
 import numpy as np
 
 import gtsam
-from gtsam import (
+from gtsam import IndexPair, KeypointsVector, MatchIndicesMap, NamedSfmMeasurementVector
+from gtsam.gtsam.gtsfm import (
     DsfTrackGenerator,
-    IndexPair,
     Keypoints,
-    KeypointsVector,
-    MatchIndicesMap,
     NamedSfmMeasurement,
-    NamedSfmMeasurementVector,
     SfmTrack2d,
 )
 from gtsam.utils.test_case import GtsamTestCase