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added cmake and preamble

release/4.3a0
Sushmita 2020-12-03 20:58:51 -05:00
parent 2e39433469
commit 7125179e4b
4 changed files with 14 additions and 6 deletions
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14
gtsam/gtsam.i
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@ -1072,18 +1072,19 @@ 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; // typedefs added here for shorter type name and to enforce uniformity in naming conventions
typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler; //typedef gtsam::CameraSet<gtsam::PinholeCameraCal3_S2> CameraSetCal3_S2;
//typedef gtsam::CameraSet<gtsam::PinholeCameraCal3Bundler> CameraSetCal3Bundler;
#include <gtsam/geometry/StereoCamera.h> #include <gtsam/geometry/StereoCamera.h>
class StereoCamera { class StereoCamera {
@ -1116,6 +1117,7 @@ class StereoCamera {
#include <gtsam/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
// Templates appear not yet supported for free functions - issue raised at borglab/wrap#14 to add support
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements, gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize); double rank_tol, bool optimize);

2
python/CMakeLists.txt
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@ -82,6 +82,8 @@ set(ignore
gtsam::KeyVector gtsam::KeyVector
gtsam::FixedLagSmootherKeyTimestampMapValue gtsam::FixedLagSmootherKeyTimestampMapValue
gtsam::BinaryMeasurementsUnit3 gtsam::BinaryMeasurementsUnit3
gtsam::CameraSetCal3_S2
gtsam::CameraSetCal3Bundler
gtsam::KeyPairDoubleMap) gtsam::KeyPairDoubleMap)
pybind_wrap(gtsam_unstable_py # target pybind_wrap(gtsam_unstable_py # target

2
python/gtsam/preamble.h
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@ -10,3 +10,5 @@ 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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@ -13,3 +13,5 @@ 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");