2015-11-24 02:06:24 +08:00
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/* ----------------------------------------------------------------------------
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2019-02-11 22:39:48 +08:00
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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2015-11-24 02:06:24 +08:00
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @brief wraps GenericProjectionFactor for several values to python
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* @author Ellon Paiva Mendes (LAAS-CNRS)
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**/
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#include <boost/python.hpp>
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#define NO_IMPORT_ARRAY
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#include <numpy_eigen/NumpyEigenConverter.hpp>
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#include "gtsam/slam/ProjectionFactor.h"
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#include "gtsam/geometry/Pose3.h"
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#include "gtsam/geometry/Point3.h"
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#include "gtsam/geometry/Cal3_S2.h"
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using namespace boost::python;
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using namespace gtsam;
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using namespace std;
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typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorCal3_S2;
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, GenericProjectionFactorCal3_S2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, GenericProjectionFactorCal3_S2::equals, 1, 2)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(evaluateError_overloads, GenericProjectionFactorCal3_S2::evaluateError, 2, 4)
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void exportGenericProjectionFactor()
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{
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class_<GenericProjectionFactorCal3_S2, bases<NonlinearFactor> >("GenericProjectionFactorCal3_S2", init<>())
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.def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, optional<Pose3> >())
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.def(init<const Point2 &, SharedNoiseModel, Key, Key, const boost::shared_ptr<Cal3_S2> &, bool, bool, optional<Pose3> >())
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.def("print", &GenericProjectionFactorCal3_S2::print, print_overloads(args("s")))
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.def("equals", &GenericProjectionFactorCal3_S2::equals, equals_overloads(args("q","tol")))
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.def("evaluate_error", &GenericProjectionFactorCal3_S2::evaluateError, evaluateError_overloads())
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.def("measured", &GenericProjectionFactorCal3_S2::measured, return_value_policy<copy_const_reference>())
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// TODO(Ellon): Find the right return policy when returning a 'const shared_ptr<...> &'
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// .def("calibration", &GenericProjectionFactorCal3_S2::calibration, return_value_policy<copy_const_reference>())
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.def("verbose_cheirality", &GenericProjectionFactorCal3_S2::verboseCheirality)
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.def("throw_cheirality", &GenericProjectionFactorCal3_S2::throwCheirality)
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;
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}
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