66 lines
3.0 KiB
C++
66 lines
3.0 KiB
C++
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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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 PinholeCamera classes 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/geometry/PinholeCamera.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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typedef PinholeBaseK<Cal3_S2> PinholeBaseKCal3_S2;
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// Wrapper on PinholeBaseK<Cal3_S2> because it has pure virtual method calibration()
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struct PinholeBaseKCal3_S2Callback : PinholeBaseKCal3_S2, wrapper<PinholeBaseKCal3_S2>
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{
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const Cal3_S2 & calibration () const {
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return this->get_override("calibration")();
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}
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};
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(project_overloads, PinholeBaseKCal3_S2::project, 2, 4)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, PinholeBaseKCal3_S2::range, 1, 3)
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// Function pointers to desambiguate project() calls
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Point2 (PinholeBaseKCal3_S2::*project1) (const Point3 &pw) const = &PinholeBaseKCal3_S2::project;
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Point2 (PinholeBaseKCal3_S2::*project2) (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
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Point2 (PinholeBaseKCal3_S2::*project3) (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 2 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
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// function pointers to desambiguate range() calls
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double (PinholeBaseKCal3_S2::*range1) (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 3 > Dpoint) const = &PinholeBaseKCal3_S2::range;
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double (PinholeBaseKCal3_S2::*range2) (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dpose) const = &PinholeBaseKCal3_S2::range;
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double (PinholeBaseKCal3_S2::*range3) (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dother) const = &PinholeBaseKCal3_S2::range;
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void exportPinholeBaseK(){
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class_<PinholeBaseKCal3_S2Callback, boost::noncopyable>("PinholeBaseKCal3_S2", no_init)
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.def("calibration", pure_virtual(&PinholeBaseKCal3_S2::calibration), return_value_policy<copy_const_reference>())
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.def("project", project1)
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.def("project", project2, project_overloads())
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.def("project", project3, project_overloads())
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.def("backproject", &PinholeBaseKCal3_S2::backproject)
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.def("backproject_point_at_infinity", &PinholeBaseKCal3_S2::backprojectPointAtInfinity)
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.def("range", range1, range_overloads())
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.def("range", range2, range_overloads())
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.def("range", range3, range_overloads())
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;
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}
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