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Wrapper fixes #510

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merged 2 commits into from
Sep 10, 2020
Merged

Wrapper fixes #510

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1348616
Wrapper updates
varunagrawal Sep 3, 2020
2ebfdca
Merge branch 'develop' into fix/wrapper-todos
varunagrawal Sep 10, 2020
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34 changes: 25 additions & 9 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -671,6 +671,15 @@ class SOn {
void serialize() const;
};

#include <gtsam/geometry/Quaternion.h>
class Quaternion {
double w() const;
double x() const;
double y() const;
double z() const;
Vector coeffs() const;
};

#include <gtsam/geometry/Rot3.h>
class Rot3 {
// Standard Constructors and Named Constructors
Expand Down Expand Up @@ -707,7 +716,7 @@ class Rot3 {
gtsam::Rot3 between(const gtsam::Rot3& p2) const;

// Manifold
//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
//gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both Matrix and Quaternion options
gtsam::Rot3 retract(Vector v) const;
Vector localCoordinates(const gtsam::Rot3& p) const;

Expand All @@ -728,7 +737,7 @@ class Rot3 {
double pitch() const;
double yaw() const;
pair<gtsam::Unit3, double> axisAngle() const;
// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
gtsam::Quaternion toQuaternion() const;
Vector quaternion() const;
gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const;

Expand Down Expand Up @@ -796,7 +805,7 @@ class Pose3 {
Pose3();
Pose3(const gtsam::Pose3& other);
Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
Pose3(const gtsam::Pose2& pose2);
Pose3(Matrix mat);

// Testable
Expand Down Expand Up @@ -1063,7 +1072,7 @@ class Cal3Bundler {
double v0() const;
Vector vector() const;
Vector k() const;
//Matrix K() const; //FIXME: Uppercase
Matrix K() const;

// enabling serialization functionality
void serialize() const;
Expand Down Expand Up @@ -1182,7 +1191,7 @@ gtsam::SimpleCamera simpleCamera(const Matrix& P);
// Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
// due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
//typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
Expand Down Expand Up @@ -1378,7 +1387,7 @@ class SymbolicBayesTree {
// // const std::list<derived_ptr>& children() const { return children_; }
// // derived_ptr parent() const { return parent_.lock(); }
//
// // FIXME: need wrapped versions graphs, BayesNet
// // TODO: need wrapped versions graphs, BayesNet
// // BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
// // FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
// // FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
Expand Down Expand Up @@ -2177,7 +2186,7 @@ virtual class NonlinearFactor {
bool active(const gtsam::Values& c) const;
gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
gtsam::NonlinearFactor* clone() const;
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //TODO: Conversion from KeyVector to std::vector does not happen
};

#include <gtsam/nonlinear/NonlinearFactor.h>
Expand Down Expand Up @@ -2241,6 +2250,7 @@ class Values {
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
// void insert(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, const gtsam::NavState& nav_state);

Expand All @@ -2257,12 +2267,14 @@ class Values {
void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
// void update(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void update(size_t j, const gtsam::NavState& nav_state);
void update(size_t j, Vector vector);
void update(size_t j, Matrix matrix);

template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
T at(size_t j);

/// version for double
Expand Down Expand Up @@ -2746,7 +2758,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
gtsam::Point2 measured() const;
};
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
// due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;

template<CALIBRATION = {gtsam::Cal3_S2}>
Expand Down Expand Up @@ -2848,6 +2860,10 @@ class SfmData {
gtsam::SfmTrack track(size_t idx) const;
};

gtsam::SfmData readBal(string filename);
gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);

pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise, bool smart);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
Expand Down