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added utility functions and code cleanup

release/4.3a0
Sushmita 2020-12-01 23:21:21 -05:00
parent 77b6595998
commit 2e39433469
5 changed files with 12 additions and 19 deletions
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3
gtsam/geometry/triangulation.h
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@ -497,9 +497,6 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
} }
// Vector of Cameras - used by the Python/MATLAB wrapper // Vector of Cameras - used by the Python/MATLAB wrapper
//typedef CameraSet<PinholeCamera<Cal3Bundler>> CameraSetCal3Bundler;
//typedef CameraSet<PinholeCamera<Cal3_S2>> CameraSetCal3_S2;
using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>; using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>; using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;

16
gtsam/gtsam.i
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@ -1068,18 +1068,18 @@ typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified; typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler; typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
template<T = {gtsam::PinholeCameraCal3Bundler, gtsam::PinholeCameraCal3_S2}> template<T>
class CameraSet { class CameraSet {
CameraSet(); CameraSet();
// // common STL methods // common STL methods
// size_t size() const; size_t size() const;
// bool empty() const; bool empty() const;
// void clear(); void clear();
// // structure specific methods // structure specific methods
// T at(size_t i) const; T at(size_t i) const;
// void push_back(const T& cam); void push_back(const T& cam);
}; };
typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2; typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;

2
python/gtsam/preamble.h
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@ -10,5 +10,3 @@ PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >); PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >); PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>); PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
//PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> >);
//PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);

2
python/gtsam/specializations.h
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@ -13,5 +13,3 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap"); py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector"); py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap"); py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
// py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> > >(m_, "CameraSetCal3_S2");
// py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> > >(m_, "CameraSetCal3Bundler");

8
python/gtsam/tests/test_Triangulation.py
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@ -75,8 +75,8 @@ class TestVisualISAMExample(GtsamTestCase):
camera2 = PinholeCameraCal3_S2(self.pose2, K2) camera2 = PinholeCameraCal3_S2(self.pose2, K2)
cameras = CameraSetCal3_S2() cameras = CameraSetCal3_S2()
cameras.append(camera1) cameras.push_back(camera1)
cameras.append(camera2) cameras.push_back(camera2)
# Project two landmarks into two cameras and triangulate # Project two landmarks into two cameras and triangulate
z1 = camera1.project(self.landmark) z1 = camera1.project(self.landmark)
@ -101,8 +101,8 @@ class TestVisualISAMExample(GtsamTestCase):
camera2 = PinholeCameraCal3Bundler(self.pose2, K2) camera2 = PinholeCameraCal3Bundler(self.pose2, K2)
cameras = CameraSetCal3Bundler() cameras = CameraSetCal3Bundler()
cameras.append(camera1) cameras.push_back(camera1)
cameras.append(camera2) cameras.push_back(camera2)
# Project two landmarks into two cameras and triangulate # Project two landmarks into two cameras and triangulate
z1 = camera1.project(self.landmark) z1 = camera1.project(self.landmark)