changed setP method name

removed commented code

gtsam/gtsam.i

@@ -2764,7 +2764,7 @@ class SfmTrack {
   SfmTrack();
   Point3 point3() const;
   size_t number_measurements() const;
-  void setP(gtsam::Point3& p_);
+  void set_point3(gtsam::Point3& p_);
   pair<size_t, gtsam::Point2> measurement(size_t idx) const;
   pair<size_t, size_t> siftIndex(size_t idx) const;
   void add_measurement(const pair<size_t, gtsam::Point2>& m);

gtsam/slam/dataset.h

@@ -210,9 +210,8 @@ GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
 
 /// A measurement with its camera index
 typedef std::pair<size_t, Point2> SfmMeasurement;
-typedef std::vector<SfmMeasurement> SfmMeasurements;
 
-/// SfmTrack
+/// Sift index for SfmTrack
 typedef std::pair<size_t, size_t> SiftIndex;
 
 /// Define the structure for the 3D points
@@ -228,10 +227,9 @@ struct SfmTrack {
     return measurements.size();
   }
   /// Set 3D point
-  void setP(const Point3& p_){
+  void set_point3(const Point3& p_){
     p = p_;
   }
-
   /// Get the measurement (camera index, Point2) at pose index `idx`
   SfmMeasurement measurement(size_t idx) const {
     return measurements[idx];
@@ -240,14 +238,14 @@ struct SfmTrack {
   SiftIndex siftIndex(size_t idx) const {
     return siftIndices[idx];
   }
+  /// Get 3D point
   Point3 point3() const {
     return p;
   }
+  /// Add measurement to track
   void add_measurement(const pair<size_t, gtsam::Point2>& m) {
     measurements.push_back(m);
   }
-
-
 };
 
 
@@ -273,11 +271,11 @@ struct SfmData {
   SfmTrack track(size_t idx) const {
     return tracks[idx];
   }
-
+  /// Add a track to SfmData
   void add_track(const SfmTrack& t)  {
     tracks.push_back(t);
   }
-
+  /// Add a camera to SfmData
   void add_camera(const SfmCamera& cam){
     cameras.push_back(cam);
   }

python/CMakeLists.txt

@@ -36,9 +36,6 @@ set(ignore
     gtsam::BetweenFactorPose3s
     gtsam::Point2Vector
     gtsam::Pose3Vector
-    gtsam::SfmMeasurement
-    gtsam::SfmCamera
-    gtsam::SiftIndex
     gtsam::KeyVector
     gtsam::BinaryMeasurementsUnit3
     gtsam::KeyPairDoubleMap)

python/gtsam/preamble.h

@@ -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::Pose2> > >);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
-//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SfmMeasurement>);
-//PYBIND11_MAKE_OPAQUE(std::vector<gtsam::SiftIndex>);

python/gtsam/specializations.h

@@ -13,5 +13,3 @@ py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "Bina
 py::bind_map<gtsam::IndexPairSetMap>(m_, "IndexPairSetMap");
 py::bind_vector<gtsam::IndexPairVector>(m_, "IndexPairVector");
 py::bind_map<gtsam::KeyPairDoubleMap>(m_, "KeyPairDoubleMap");
-//py::bind_vector<std::vector<gtsam::SfmMeasurement> >(m_, "Measurement");
-//py::bind_vector<std::vector<gtsam::SiftIndex> >(m_, "SiftIndexVector");

python/gtsam/tests/test_SfmData.py

@@ -32,11 +32,12 @@ class TestSfmData(GtsamTestCase):
     def test_tracks(self):
         """Test functions in SfmTrack"""
         # measurement is of format (camera_idx, imgPoint)
-        # create camera indices for two cameras
+        # create arbitrary camera indices for two cameras
-        i1, i2 = np.random.randint(5), np.random.randint(5)
+        i1, i2 = 4,5
-        # create imgPoint for cameras i1 and i2
+        # create arbitrary image measurements for cameras i1 and i2
-        uv_i1 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i1 = gtsam.Point2(12.6, 82)
-        uv_i2 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        # translating point uv_i1 along X-axis
+        uv_i2 = gtsam.Point2(24.88, 82)
         m_i1 = (i1, uv_i1)
         m_i2 = (i2, uv_i2)
         # add measurements to the track
@@ -47,7 +48,7 @@ class TestSfmData(GtsamTestCase):
         # camera_idx in the first measurement of the track corresponds to i1
         self.assertEqual(self.tracks.measurement(0)[0], i1)
         # Set arbitrary 3D point corresponding to the track
-        self.tracks.setP(gtsam.Point3(2.5, 3.3, 1.2))
+        self.tracks.set_point3(gtsam.Point3(2.5, 3.3, 1.2))
         np.testing.assert_array_almost_equal(
             gtsam.Point3(2.5,3.3,1.2), 
             self.tracks.point3()
@@ -59,10 +60,11 @@ class TestSfmData(GtsamTestCase):
         #cam1 = gtsam.SfmCamera(1500, 1200, 0, 640, 480)
         # Create new track with 3 measurements
         track2 = gtsam.SfmTrack()
-        i1, i2, i3 = np.random.randint(5), np.random.randint(5), np.random.randint(5)
+        i1, i2, i3 = 3,5,6
-        uv_i1 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i1 = gtsam.Point2(21.23, 45.64)
-        uv_i2 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        # translating along X-axis
-        uv_i3 = gtsam.Point2(np.random.randint(5), np.random.randint(5))
+        uv_i2 = gtsam.Point2(45.7, 45.64)
+        uv_i3 = gtsam.Point2(68.35, 45.64)
         m_i1, m_i2, m_i3 = (i1, uv_i1),  (i2, uv_i2), (i3, uv_i3)
         # add measurements to the track
         track2.add_measurement(m_i1)