added SfmTracks and SfmCameras so we can easily

access them in Python

python/gtsam/preamble/sfm.h

@@ -10,3 +10,12 @@
  * Without this they will be automatically converted to a Python object, and all
  * mutations on Python side will not be reflected on C++.
  */
+
+#include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::SfmTrack>);
+
+PYBIND11_MAKE_OPAQUE(
+    std::vector<gtsam::SfmCamera>);

python/gtsam/specializations/sfm.h

@@ -14,3 +14,16 @@
 py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(
     m_, "BinaryMeasurementsUnit3");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
+
+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"
+    );