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TAvg wrapper builds

release/4.3a0
akrishnan86 2020-08-30 21:53:12 -07:00
parent 9b481cb790
commit 7ffa54f896
3 changed files with 15 additions and 6 deletions
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14
gtsam/gtsam.i
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@ -2914,6 +2914,13 @@ class BinaryMeasurement {
typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3; typedef gtsam::BinaryMeasurement<gtsam::Unit3> BinaryMeasurementUnit3;
typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3; typedef gtsam::BinaryMeasurement<gtsam::Rot3> BinaryMeasurementRot3;
class BinaryMeasurementsUnit3 {
BinaryMeasurementsUnit3();
size_t size() const;
gtsam::BinaryMeasurement<gtsam::Unit3> at(size_t idx) const;
void push_back(const gtsam::BinaryMeasurement<gtsam::Unit3> measurement);
};
#include <gtsam/sfm/ShonanAveraging.h> #include <gtsam/sfm/ShonanAveraging.h>
// TODO(frank): copy/pasta below until we have integer template paremeters in wrap! // TODO(frank): copy/pasta below until we have integer template paremeters in wrap!
@ -3035,11 +3042,10 @@ class ShonanAveraging3 {
#include <gtsam/sfm/TranslationRecovery.h> #include <gtsam/sfm/TranslationRecovery.h>
class TranslationRecovery { class TranslationRecovery {
TranslationRecovery(const BinaryMeasurementsUnit3& relativeTranslations, TranslationRecovery(const gtsam::BinaryMeasurementsUnit3 &relativeTranslations,
const LevenbergMarquardtParams& lmParams); const gtsam::LevenbergMarquardtParams &lmParams);
TranslationRecovery( TranslationRecovery(
const BinaryMeasurementsUnit3& const gtsam::BinaryMeasurementsUnit3 & relativeTranslations); // default LevenbergMarquardtParams
relativeTranslations); // default LevenbergMarquardtParams
gtsam::Values run(const double scale) const; gtsam::Values run(const double scale) const;
gtsam::Values run() const; // default scale = 1.0 gtsam::Values run() const; // default scale = 1.0
}; };

1
gtsam/slam/dataset.h
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@ -354,6 +354,7 @@ parse3DFactors(const std::string &filename,
const noiseModel::Diagonal::shared_ptr &model = nullptr, const noiseModel::Diagonal::shared_ptr &model = nullptr,
size_t maxIndex = 0); size_t maxIndex = 0);
using BinaryMeasurementsUnit3 = std::vector<BinaryMeasurement<Unit3>>;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
inline boost::optional<IndexedPose> parseVertex(std::istream &is, inline boost::optional<IndexedPose> parseVertex(std::istream &is,
const std::string &tag) { const std::string &tag) {

6
python/CMakeLists.txt
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@ -30,7 +30,8 @@ set(ignore
gtsam::BetweenFactorPose3s gtsam::BetweenFactorPose3s
gtsam::Point2Vector gtsam::Point2Vector
gtsam::Pose3Vector gtsam::Pose3Vector
gtsam::KeyVector) gtsam::KeyVector
gtsam::BinaryMeasurementsUnit3)
pybind_wrap(gtsam_py # target pybind_wrap(gtsam_py # target
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i # interface_header
@ -72,7 +73,8 @@ set(ignore
gtsam::Point2Vector gtsam::Point2Vector
gtsam::Pose3Vector gtsam::Pose3Vector
gtsam::KeyVector gtsam::KeyVector
gtsam::FixedLagSmootherKeyTimestampMapValue) gtsam::FixedLagSmootherKeyTimestampMapValue
gtsam::BinaryMeasurementsUnit3)
pybind_wrap(gtsam_unstable_py # target pybind_wrap(gtsam_unstable_py # target
${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header ${PROJECT_SOURCE_DIR}/gtsam_unstable/gtsam_unstable.i # interface_header
"gtsam_unstable.cpp" # generated_cpp "gtsam_unstable.cpp" # generated_cpp