90 lines
1.8 KiB
C++
90 lines
1.8 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @brief exports the python module
|
|
* @author Andrew Melim
|
|
* @author Ellon Paiva Mendes (LAAS-CNRS)
|
|
**/
|
|
|
|
#include <boost/python.hpp>
|
|
#include <boost/cstdint.hpp>
|
|
|
|
#include <numpy_eigen/NumpyEigenConverter.hpp>
|
|
|
|
#include <gtsam/base/Matrix.h>
|
|
#include <gtsam/base/Vector.h>
|
|
|
|
using namespace boost::python;
|
|
using namespace gtsam;
|
|
using namespace std;
|
|
|
|
// Geometry
|
|
void exportPoint2();
|
|
void exportPoint3();
|
|
void exportRot2();
|
|
void exportRot3();
|
|
void exportPose2();
|
|
void exportPose3();
|
|
void exportPinholeCamera();
|
|
void exportCal3_S2();
|
|
|
|
// Inference
|
|
void exportSymbol();
|
|
|
|
// Linear
|
|
void exportNoiseModels();
|
|
|
|
// Nonlinear
|
|
void exportValues();
|
|
void exportNonlinearFactor();
|
|
void exportNonlinearFactorGraph();
|
|
void exportLevenbergMarquardtOptimizer();
|
|
void exportISAM2();
|
|
|
|
// Slam
|
|
void exportPriorFactors();
|
|
void exportBetweenFactors();
|
|
|
|
// Utils (or Python wrapper specific functions)
|
|
void registerNumpyEigenConversions();
|
|
|
|
//-----------------------------------//
|
|
|
|
BOOST_PYTHON_MODULE(libgtsam_python){
|
|
|
|
// Should be the first thing to be done
|
|
import_array();
|
|
|
|
registerNumpyEigenConversions();
|
|
|
|
exportPoint2();
|
|
exportPoint3();
|
|
exportRot2();
|
|
exportRot3();
|
|
exportPose2();
|
|
exportPose3();
|
|
exportPinholeCamera();
|
|
exportCal3_S2();
|
|
|
|
exportSymbol();
|
|
|
|
exportNoiseModels();
|
|
|
|
exportValues();
|
|
exportNonlinearFactor();
|
|
exportNonlinearFactorGraph();
|
|
exportLevenbergMarquardtOptimizer();
|
|
exportISAM2();
|
|
|
|
exportPriorFactors();
|
|
exportBetweenFactors();
|
|
} |