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Camera sets

release/4.3a0
Frank Dellaert 2022-05-11 00:27:50 -04:00
parent 8333c8f15c
commit 287ea28920
2 changed files with 9 additions and 3 deletions
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10
gtsam/geometry/geometry.i
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@ -1040,7 +1040,11 @@ class Similarity3 {
double scale() const; double scale() const;
}; };
template <T> template <T = {gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCameraCal3DS2,
gtsam::PinholeCameraCal3Bundler,
gtsam::PinholeCameraCal3Fisheye,
gtsam::PinholeCameraCal3Unified}>
class CameraSet { class CameraSet {
CameraSet(); CameraSet();
@ -1088,10 +1092,10 @@ class StereoCamera {
}; };
#include <gtsam/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
class TriangulationResult {
virtual class TriangulationResult : boost::optional<gtsam::Point3> {
enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT }; enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
Status status; Status status;
const gtsam::Point3& get() const;
}; };
class TriangulationParameters { class TriangulationParameters {

2
python/gtsam/specializations/geometry.h
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@ -21,6 +21,8 @@ py::bind_vector<std::vector<gtsam::Pose3Pair>>(m_, "Pose3Pairs");
py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector"); py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>( py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(
m_, "CameraSetCal3_S2"); m_, "CameraSetCal3_S2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3DS2>>>(
m_, "CameraSetCal3DS2");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>( py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>>(
m_, "CameraSetCal3Bundler"); m_, "CameraSetCal3Bundler");
py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>>( py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Unified>>>(