50 lines
2.3 KiB
C++
50 lines
2.3 KiB
C++
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#include <pybind11/eigen.h>
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#include <pybind11/stl_bind.h>
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#include <pybind11/pybind11.h>
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#include <pybind11/operators.h>
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#include "gtsam/nonlinear/utilities.h" // for RedirectCout.
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#include "gtsam/geometry/Cal3Bundler.h"
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#include "wrap/serialization.h"
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#include <boost/serialization/export.hpp>
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using namespace std;
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namespace py = pybind11;
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PYBIND11_MODULE(special_cases_py, m_) {
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m_.doc() = "pybind11 wrapper of special_cases_py";
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pybind11::module m_gtsam = m_.def_submodule("gtsam", "gtsam submodule");
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py::class_<gtsam::NonlinearFactorGraph, std::shared_ptr<gtsam::NonlinearFactorGraph>>(m_gtsam, "NonlinearFactorGraph")
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.def("addPriorPinholeCameraCal3Bundler",[](gtsam::NonlinearFactorGraph* self, size_t key, const gtsam::PinholeCamera<gtsam::Cal3Bundler>& prior, const std::shared_ptr<gtsam::noiseModel::Base> noiseModel){ self->addPrior<gtsam::PinholeCamera<gtsam::Cal3Bundler>>(key, prior, noiseModel);}, py::arg("key"), py::arg("prior"), py::arg("noiseModel"));
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py::class_<gtsam::SfmTrack, std::shared_ptr<gtsam::SfmTrack>>(m_gtsam, "SfmTrack")
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.def_readwrite("measurements", >sam::SfmTrack::measurements);
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py::class_<gtsam::PinholeCamera<gtsam::Cal3Bundler>, std::shared_ptr<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(m_gtsam, "PinholeCameraCal3Bundler");
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py::class_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>, std::shared_ptr<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>>> generalsfmfactorcal3bundler(m_gtsam, "GeneralSFMFactorCal3Bundler");
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generalsfmfactorcal3bundler
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.def_readwrite("verbosity", >sam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::verbosity);
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py::enum_<gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity>(generalsfmfactorcal3bundler, "Verbosity", py::arithmetic())
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.value("SILENT", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SILENT)
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.value("SUMMARY", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::SUMMARY)
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.value("VALUES", gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3>::Verbosity::VALUES);
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#include "python/specializations.h"
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}
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