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Dsf-gtsfm-refactor #1312

Merged
merged 34 commits into from
Oct 24, 2022
Merged

Dsf-gtsfm-refactor #1312

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809923a
Start GTSFM's DSF port to C++
Jul 16, 2022
6e13456
Add Python unit test
Jul 16, 2022
629b9cd
clean up docstrings
Jul 16, 2022
2434d3a
Fix unwrapped SfmTrack2d, and instantiate generator before calling it…
Jul 16, 2022
6e45be3
fix all wrapper issues
Jul 16, 2022
361e3f6
Remove C++17 decompositions, and address comments
Jul 17, 2022
51fb375
remove stray breakpoint
Jul 17, 2022
fc35096
Update style to have bracket on same lines, and autoformat
johnwlambert Jul 19, 2022
e6ccf97
hasUniqueCameras to camel case
Jul 24, 2022
7022c07
merge
Jul 24, 2022
720145a
remove unnecessary extra typedef
Jul 24, 2022
00cadab
Merge branch 'develop' of https://github.com/borglab/gtsam into dsf-g…
Jul 25, 2022
5712082
Merge branch 'develop' of https://github.com/borglab/gtsam into dsf-g…
Jul 27, 2022
8007271
Merge branch 'develop' of https://github.com/borglab/gtsam into dsf-g…
Sep 26, 2022
a2109a2
pass in IndexPair arguments
Sep 26, 2022
2434dc8
add to preamble/specialization
Sep 26, 2022
a3069a3
remove opaque on sfmtrack2d
Sep 26, 2022
fa17c50
Add SfmTrack2dVector to ignore list
johnwlambert Sep 26, 2022
96aaff4
wrap vector of NamedSfmMeasurement
Sep 27, 2022
6eb4ada
add more methods for accessing members, getting size
Sep 27, 2022
cafab61
expand tests
Sep 27, 2022
4d690ef
add docimentation for Keypoints class
Oct 6, 2022
4f40665
rename KeypointsList -> KeypointsVector
Oct 13, 2022
7dee1af
add verbose flag for logging messages during DSF track generation
Oct 13, 2022
f9971f5
use gtsam.gtsfm namespace for new API
Oct 13, 2022
73fd3f9
add namespace hack to prevent gtsam.gtsam.gtsfm
Oct 13, 2022
cafa3c5
Split SfmTrack into 2 classes
dellaert Oct 23, 2022
38be12e
Use SfmMeasurement and SfmTrack
dellaert Oct 23, 2022
7e411fe
Refactor into smaller functions
dellaert Oct 23, 2022
466290c
Moved code to cpp file
dellaert Oct 23, 2022
ca45114
removed NamedSfmMeasurementVector
dellaert Oct 23, 2022
f68f0db
Addressed review comments - removed class in favor of free function
dellaert Oct 23, 2022
90c990d
Rename of test
dellaert Oct 23, 2022
32df824
Vectorized interface
dellaert Oct 23, 2022
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remove unnecessary extra typedef
  • Loading branch information
senselessdev1 committed Jul 24, 2022
commit 720145ae672274493fbc4f9b1b8718608141adb1
4 changes: 2 additions & 2 deletions gtsam/sfm/DsfTrackGenerator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@
namespace gtsam {

typedef DSFMap<IndexPair> DSFMapIndexPair;
typedef std::pair<size_t, size_t> ImagePair;
typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array

//struct Keypoints;
Expand All @@ -49,7 +48,8 @@ struct Keypoints {

using KeypointsList = std::vector<Keypoints>;
using KeypointsVector = std::vector<Keypoints>; // TODO(johnwlambert): prefer KeypointsSet?
using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
// Mapping from each image pair to (N,2) array representing indices of matching keypoints.
using MatchIndicesMap = std::map<IndexPair, CorrespondenceIndices>;


// @param camera index
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