65 lines
2.3 KiB
C++
65 lines
2.3 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 Cal3_S2 class 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/Cal3_S2.h>
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using namespace boost::python;
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using namespace gtsam;
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(print_overloads, Cal3_S2::print, 0, 1)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(equals_overloads, Cal3_S2::equals, 1, 2)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(uncalibrate_overloads, Cal3_S2::uncalibrate, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(calibrate_overloads, Cal3_S2::calibrate, 1, 3)
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BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(between_overloads, Cal3_S2::between, 1, 3)
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// Function pointers to desambiguate Cal3_S2::calibrate calls
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Point2 (Cal3_S2::*calibrate1)(const Point2 &, OptionalJacobian< 2, 5 > Dcal, OptionalJacobian< 2, 2 > Dp) const = &Cal3_S2::calibrate;
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Vector3 (Cal3_S2::*calibrate2)(const Vector3 &) const = &Cal3_S2::calibrate;
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void exportCal3_S2(){
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class_<Cal3_S2, boost::shared_ptr<Cal3_S2> >("Cal3_S2", init<>())
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.def(init<double,double,double,double,double>())
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.def(init<const Vector &>())
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.def(init<double,int,int>(args("fov","w","h")))
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.def(init<std::string>())
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.def(repr(self))
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.def("print", &Cal3_S2::print, print_overloads(args("s")))
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.def("equals", &Cal3_S2::equals, equals_overloads(args("q","tol")))
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.def("fx",&Cal3_S2::fx)
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.def("fy",&Cal3_S2::fy)
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.def("skew",&Cal3_S2::skew)
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.def("px",&Cal3_S2::px)
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.def("py",&Cal3_S2::py)
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.def("principal_point",&Cal3_S2::principalPoint)
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.def("vector",&Cal3_S2::vector)
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.def("k",&Cal3_S2::K)
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.def("matrix",&Cal3_S2::matrix)
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.def("matrix_inverse",&Cal3_S2::matrix_inverse)
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.def("uncalibrate",&Cal3_S2::uncalibrate, uncalibrate_overloads())
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.def("calibrate",calibrate1, calibrate_overloads())
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.def("calibrate",calibrate2)
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.def("between",&Cal3_S2::between, between_overloads())
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;
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register_ptr_to_python< boost::shared_ptr<Cal3_S2> >();
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}
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