51 lines
1.9 KiB
C++
51 lines
1.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @brief wraps PinholeCamera classes to python
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* @author Ellon Paiva Mendes (LAAS-CNRS)
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**/
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#include <boost/python.hpp>
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#define NO_IMPORT_ARRAY
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#include <numpy_eigen/NumpyEigenConverter.hpp>
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#include "gtsam/geometry/PinholeCamera.h"
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#include "gtsam/geometry/Cal3_S2.h"
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using namespace boost::python;
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using namespace gtsam;
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typedef PinholeBaseK<Cal3_S2> PinholeBaseKCal3_S2;
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typedef PinholeCamera<Cal3_S2> PinholeCameraCal3_S2;
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, PinholeCameraCal3_S2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, PinholeCameraCal3_S2::equals, 1, 2)
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BOOST_PYTHON_FUNCTION_OVERLOADS(Lookat_overloads, PinholeCameraCal3_S2::Lookat, 3, 4)
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void exportPinholeCamera(){
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class_<PinholeCameraCal3_S2, bases<PinholeBaseKCal3_S2> >("PinholeCameraCal3_S2", init<>())
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.def(init<const Pose3 &>())
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.def(init<const Pose3 &, const Cal3_S2 &>())
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.def(init<const Vector &>())
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.def(init<const Vector &, const Vector &>())
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.def("print", &PinholeCameraCal3_S2::print, print_overloads(args("s")))
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.def("equals", &PinholeCameraCal3_S2::equals, equals_overloads(args("q","tol")))
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.def("pose", &PinholeCameraCal3_S2::pose, return_value_policy<copy_const_reference>())
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// We don't need to define calibration() here because it's already defined as virtual in the base class PinholeBaseKCal3_S2
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// .def("calibration", &PinholeCameraCal3_S2::calibration, return_value_policy<copy_const_reference>())
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.def("Lookat", &PinholeCameraCal3_S2::Lookat, Lookat_overloads())
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.staticmethod("Lookat")
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;
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} |