Added some utilities for better using the SfM parts of GTSAM in Python #1185
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and FromPose3 in EssentialMatrix
access them in Python
dellaert
approved these changes
May 3, 2022
gtsam/geometry/geometry.i
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| @@ -971,6 +1034,12 @@ typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified; | |||
| typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler; | |||
| typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye; | |||
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| typedef gtsam::PinholePose<gtsam::Cal3_S2> PinholePoseCal3_S2; | |||
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move right after class, same for PinholeCamera
gtsam/sfm/sfm.i
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| @@ -34,6 +36,9 @@ class SfmData { | |||
| static gtsam::SfmData FromBundlerFile(string filename); | |||
| static gtsam::SfmData FromBalFile(string filename); | |||
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| std::vector<gtsam::SfmTrack> tracks; | |||
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Remove this in factor of const & for track and camera.
You can also add const& tracks() and cameras() methods.
python/gtsam/preamble/sfm.h
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| PYBIND11_MAKE_OPAQUE( | ||
| std::vector<gtsam::SfmCamera>); |
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Next goal is to add the SfM Example to the GTSAM Examples.