74 lines
3.3 KiB
C++
74 lines
3.3 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @brief wraps PinholeCamera classes to python
|
|
* @author Ellon Paiva Mendes (LAAS-CNRS)
|
|
**/
|
|
|
|
#include <boost/python.hpp>
|
|
|
|
#define NO_IMPORT_ARRAY
|
|
#include <numpy_eigen/NumpyEigenConverter.hpp>
|
|
|
|
#include "gtsam/geometry/PinholeCamera.h"
|
|
#include "gtsam/geometry/Cal3_S2.h"
|
|
|
|
|
|
using namespace boost::python;
|
|
using namespace gtsam;
|
|
|
|
typedef PinholeBaseK<Cal3_S2> PinholeBaseKCal3_S2;
|
|
|
|
// Wrapper on PinholeBaseK<Cal3_S2> because it has pure virtual method calibration()
|
|
struct PinholeBaseKCal3_S2Callback : PinholeBaseKCal3_S2, wrapper<PinholeBaseKCal3_S2>
|
|
{
|
|
const Cal3_S2 & calibration () const {
|
|
return this->get_override("calibration")();
|
|
}
|
|
};
|
|
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(project_overloads, PinholeBaseKCal3_S2::project, 1, 4)
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(range_overloads, PinholeBaseKCal3_S2::range, 1, 3)
|
|
|
|
// Function pointers to disambiguate project() calls
|
|
Point2 (PinholeBaseKCal3_S2::*project1) (const Point3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 3 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
|
|
Point2 (PinholeBaseKCal3_S2::*project2) (const Unit3 &pw, OptionalJacobian< 2, 6 > Dpose, OptionalJacobian< 2, 2 > Dpoint, OptionalJacobian< 2, FixedDimension<Cal3_S2>::value > Dcal) const = &PinholeBaseKCal3_S2::project;
|
|
|
|
// function pointers to disambiguate range() calls
|
|
double (PinholeBaseKCal3_S2::*range1) (const Point3 &point, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 3 > Dpoint) const = &PinholeBaseKCal3_S2::range;
|
|
double (PinholeBaseKCal3_S2::*range2) (const Pose3 &pose, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dpose) const = &PinholeBaseKCal3_S2::range;
|
|
double (PinholeBaseKCal3_S2::*range3) (const CalibratedCamera &camera, OptionalJacobian< 1, 6 > Dcamera, OptionalJacobian< 1, 6 > Dother) const = &PinholeBaseKCal3_S2::range;
|
|
|
|
// wrap projectSafe in a function that returns None or a tuple
|
|
// TODO(frank): find out how to return an ndarray instead
|
|
object project_safe(const PinholeBaseKCal3_S2& camera, const gtsam::Point3& p) {
|
|
auto result = camera.projectSafe(p);
|
|
if (result.second)
|
|
return make_tuple(result.first.x(), result.first.y());
|
|
else
|
|
return object();
|
|
}
|
|
|
|
void exportPinholeBaseK() {
|
|
class_<PinholeBaseKCal3_S2Callback, boost::noncopyable>("PinholeBaseKCal3_S2", no_init)
|
|
.def("calibration", pure_virtual(&PinholeBaseKCal3_S2::calibration),
|
|
return_value_policy<copy_const_reference>())
|
|
.def("project_safe", make_function(project_safe))
|
|
.def("project", project1, project_overloads())
|
|
.def("project", project2, project_overloads())
|
|
.def("backproject", &PinholeBaseKCal3_S2::backproject)
|
|
.def("backproject_point_at_infinity", &PinholeBaseKCal3_S2::backprojectPointAtInfinity)
|
|
.def("range", range1, range_overloads())
|
|
.def("range", range2, range_overloads())
|
|
.def("range", range3, range_overloads());
|
|
}
|