108 lines
2.5 KiB
C++
108 lines
2.5 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 exports the python module
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* @author Andrew Melim
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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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#include <numpy_eigen/NumpyEigenConverter.hpp>
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// base
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void exportFastVectors();
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// geometry
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void exportPoint2();
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void exportPoint3();
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void exportRot2();
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void exportRot3();
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void exportPose2();
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void exportPose3();
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void exportPinholeBaseK();
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void exportPinholeCamera();
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void exportCal3_S2();
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void export_geometry();
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// inference
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void exportSymbol();
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// linear
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void exportNoiseModels();
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// nonlinear
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void exportValues();
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void exportNonlinearFactor();
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void exportNonlinearFactorGraph();
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void exportLevenbergMarquardtOptimizer();
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void exportISAM2();
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// slam
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void exportPriorFactors();
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void exportBetweenFactors();
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void exportGenericProjectionFactor();
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void export_slam();
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// navigation
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void exportImuFactor();
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void exportScenario();
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// Utils (or Python wrapper specific functions)
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void registerNumpyEigenConversions();
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//-----------------------------------//
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BOOST_PYTHON_MODULE(gtsampy){
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// NOTE: We need to call import_array1() instead of import_array() to support both python 2
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// and 3. The reason is that BOOST_PYTHON_MODULE puts all its contents in a function
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// returning void, and import_array() is a macro that when expanded for python 3, adds
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// a 'return __null' statement to that function. For more info check files:
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// boost/python/module_init.hpp and numpy/__multiarray_api.h (bottom of the file).
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// Should be the first thing to be done
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import_array1();
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registerNumpyEigenConversions();
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exportFastVectors();
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exportPoint2();
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exportPoint3();
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exportRot2();
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exportRot3();
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exportPose2();
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exportPose3();
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exportPinholeBaseK();
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exportPinholeCamera();
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exportCal3_S2();
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export_geometry();
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exportSymbol();
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exportNoiseModels();
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exportValues();
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exportNonlinearFactor();
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exportNonlinearFactorGraph();
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exportLevenbergMarquardtOptimizer();
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exportISAM2();
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exportPriorFactors();
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exportBetweenFactors();
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exportGenericProjectionFactor();
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export_slam();
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exportImuFactor();
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exportScenario();
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}
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