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wrap vector of NamedSfmMeasurement

release/4.3a0
senselessdev1 2022-09-26 20:42:03 -04:00
parent fa17c50910
commit 96aaff4bc6
5 changed files with 25 additions and 6 deletions
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2
gtsam/sfm/DsfTrackGenerator.h
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@ -95,7 +95,7 @@ class SfmTrack2d {
}; };
using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>; using SfmTrack2dVector = std::vector<gtsam::SfmTrack2d>;
using NamedSfmMeasurementVector = std::vector<NamedSfmMeasurement>;
/** /**

12
gtsam/sfm/sfm.i
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@ -42,6 +42,16 @@ class NamedSfmMeasurement
NamedSfmMeasurement(size_t i, gtsam::Point2 uv); NamedSfmMeasurement(size_t i, gtsam::Point2 uv);
}; };
class NamedSfmMeasurementVector {
NamedSfmMeasurementVector();
NamedSfmMeasurementVector(const gtsam::NamedSfmMeasurementVector& other);
void push_back(const gtsam::NamedSfmMeasurement& measurement);
size_t size() const;
bool empty() const;
void clear();
gtsam::NamedSfmMeasurement at(const size_t& index) const;
};
class SfmTrack2d class SfmTrack2d
{ {
void addMeasurement(const gtsam::NamedSfmMeasurement &m); void addMeasurement(const gtsam::NamedSfmMeasurement &m);
@ -52,7 +62,7 @@ class SfmTrack2d
class SfmTrack2dVector { class SfmTrack2dVector {
SfmTrack2dVector(); SfmTrack2dVector();
SfmTrack2dVector(const gtsam::SfmTrack2dVector& other); SfmTrack2dVector(const gtsam::SfmTrack2dVector& other);
void push_back(const gtsam::SfmTrack2d& keypoints); void push_back(const gtsam::SfmTrack2d& track);
size_t size() const; size_t size() const;
bool empty() const; bool empty() const;
void clear(); void clear();

6
python/CMakeLists.txt
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@ -54,7 +54,8 @@ set(ignore
gtsam::KeyPairDoubleMap gtsam::KeyPairDoubleMap
gtsam::MatchIndicesMap gtsam::MatchIndicesMap
gtsam::KeypointsList gtsam::KeypointsList
gtsam::SfmTrack2dVector) gtsam::SfmTrack2dVector
gtsam::NamedSfmMeasurementVector)
set(interface_headers set(interface_headers
${PROJECT_SOURCE_DIR}/gtsam/gtsam.i ${PROJECT_SOURCE_DIR}/gtsam/gtsam.i
@ -154,7 +155,8 @@ if(GTSAM_UNSTABLE_BUILD_PYTHON)
gtsam::KeyPairDoubleMap gtsam::KeyPairDoubleMap
gtsam::MatchIndicesMap gtsam::MatchIndicesMap
gtsam::KeypointsList gtsam::KeypointsList
gtsam::SfmTrack2dVector) gtsam::SfmTrack2dVector
gtsam::NamedSfmMeasurementVector)
pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target pybind_wrap(${GTSAM_PYTHON_UNSTABLE_TARGET} # target

5
python/gtsam/preamble/sfm.h
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@ -29,4 +29,7 @@ PYBIND11_MAKE_OPAQUE(
// PYBIND11_MAKE_OPAQUE( // PYBIND11_MAKE_OPAQUE(
// std::vector<gtsam::SfmTrack2d>); // std::vector<gtsam::SfmTrack2d>);
PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap); PYBIND11_MAKE_OPAQUE(gtsam::MatchIndicesMap);
PYBIND11_MAKE_OPAQUE(
std::vector<gtsam::NamedSfmMeasurement>);

6
python/gtsam/specializations/sfm.h
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@ -39,4 +39,8 @@ py::bind_vector<
); );
py::bind_vector< py::bind_vector<
std::vector<gtsam::SfmTrack2d> >( std::vector<gtsam::SfmTrack2d> >(
m_, "SfmTrack2dVector"); m_, "SfmTrack2dVector");
py::bind_vector<
std::vector<gtsam::NamedSfmMeasurement> >(
m_, "NamedSfmMeasurementVector");