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moved wrapping

release/4.3a0
Frank Dellaert 2022-01-31 09:30:07 -05:00
parent 6fbb948a7d
commit ea5465cd84
2 changed files with 45 additions and 45 deletions
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46
gtsam/sfm/sfm.i
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@ -4,7 +4,51 @@
namespace gtsam {
// #####
#include <gtsam/sfm/SfmTrack.h>
class SfmTrack {
SfmTrack();
SfmTrack(const gtsam::Point3& pt);
const Point3& point3() const;
double r;
double g;
double b;
std::vector<pair<size_t, gtsam::Point2>> measurements;
size_t nrMeasurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;
void addMeasurement(size_t idx, const gtsam::Point2& m);
// enabling serialization functionality
void serialize() const;
// enabling function to compare objects
bool equals(const gtsam::SfmTrack& expected, double tol) const;
};
#include <gtsam/sfm/SfmData.h>
class SfmData {
SfmData();
size_t nrCameras() const;
size_t nrTracks() const;
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
gtsam::SfmTrack track(size_t idx) const;
void addTrack(const gtsam::SfmTrack& t);
void addCamera(const gtsam::SfmCamera& cam);
// enabling serialization functionality
void serialize() const;
// enabling function to compare objects
bool equals(const gtsam::SfmData& expected, double tol) const;
};
gtsam::SfmData readBal(string filename);
bool writeBAL(string filename, gtsam::SfmData& data);
gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
#include <gtsam/sfm/ShonanFactor.h>

44
gtsam/slam/slam.i
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@ -209,50 +209,6 @@ virtual class EssentialMatrixConstraint : gtsam::NoiseModelFactor {
#include <gtsam/slam/dataset.h>
class SfmTrack {
SfmTrack();
SfmTrack(const gtsam::Point3& pt);
const Point3& point3() const;
double r;
double g;
double b;
std::vector<pair<size_t, gtsam::Point2>> measurements;
size_t nrMeasurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;
void addMeasurement(size_t idx, const gtsam::Point2& m);
// enabling serialization functionality
void serialize() const;
// enabling function to compare objects
bool equals(const gtsam::SfmTrack& expected, double tol) const;
};
class SfmData {
SfmData();
size_t nrCameras() const;
size_t nrTracks() const;
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
gtsam::SfmTrack track(size_t idx) const;
void addTrack(const gtsam::SfmTrack& t);
void addCamera(const gtsam::SfmCamera& cam);
// enabling serialization functionality
void serialize() const;
// enabling function to compare objects
bool equals(const gtsam::SfmData& expected, double tol) const;
};
gtsam::SfmData readBal(string filename);
bool writeBAL(string filename, gtsam::SfmData& data);
gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
enum NoiseFormat {
NoiseFormatG2O,
NoiseFormatTORO,