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Tiny Updates to Python Wrapper #1755

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Jun 10, 2024
Merged

Tiny Updates to Python Wrapper #1755

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e116123
Add a few functions to python wrapper
contagon May 27, 2024
d7e2e1c
Expanded stereofactor python constructor
contagon May 27, 2024
32e8a43
Merge branch 'borglab:develop' into python-helpers
contagon Jun 3, 2024
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10 changes: 10 additions & 0 deletions gtsam/geometry/geometry.i
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,7 @@ class StereoPoint2 {
// Standard Constructors
StereoPoint2();
StereoPoint2(double uL, double uR, double v);
StereoPoint2(const gtsam::Vector3 &v);

// Testable
void print(string s = "") const;
Expand Down Expand Up @@ -836,6 +837,12 @@ class Cal3_S2Stereo {
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b);
Cal3_S2Stereo(Vector v);

// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3_S2Stereo retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3_S2Stereo& c) const;

// Testable
void print(string s = "") const;
bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const;
Expand All @@ -846,8 +853,11 @@ class Cal3_S2Stereo {
double skew() const;
double px() const;
double py() const;
Matrix K() const;
gtsam::Point2 principalPoint() const;
double baseline() const;
Vector6 vector() const;
Matrix inverse() const;
};

#include <gtsam/geometry/Cal3Bundler.h>
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2 changes: 1 addition & 1 deletion gtsam/navigation/navigation.i
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Expand Up @@ -200,7 +200,7 @@ class PreintegratedCombinedMeasurements {
const gtsam::imuBias::ConstantBias& bias) const;
};

virtual class CombinedImuFactor: gtsam::NonlinearFactor {
virtual class CombinedImuFactor: gtsam::NoiseModelFactor {
CombinedImuFactor(size_t pose_i, size_t vel_i, size_t pose_j, size_t vel_j,
size_t bias_i, size_t bias_j,
const gtsam::PreintegratedCombinedMeasurements& CombinedPreintegratedMeasurements);
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3 changes: 3 additions & 0 deletions gtsam/nonlinear/nonlinear.i
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Expand Up @@ -130,6 +130,7 @@ virtual class NonlinearFactor : gtsam::Factor {
virtual class NoiseModelFactor : gtsam::NonlinearFactor {
bool equals(const gtsam::NoiseModelFactor& other, double tol) const;
gtsam::noiseModel::Base* noiseModel() const;
gtsam::NoiseModelFactor* cloneWithNewNoiseModel(gtsam::noiseModel::Base* newNoise) const;
Vector unwhitenedError(const gtsam::Values& x) const;
Vector whitenedError(const gtsam::Values& x) const;
};
Expand Down Expand Up @@ -320,6 +321,8 @@ virtual class GncParams {
enum Verbosity {
SILENT,
SUMMARY,
MU,
WEIGHTS,
VALUES
};
};
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5 changes: 5 additions & 0 deletions gtsam/slam/StereoFactor.h
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Expand Up @@ -169,6 +169,11 @@ class GenericStereoFactor: public NoiseModelFactorN<POSE, LANDMARK> {
/** return flag for throwing cheirality exceptions */
inline bool throwCheirality() const { return throwCheirality_; }

/** return the (optional) sensor pose with respect to the vehicle frame */
const std::optional<POSE>& body_P_sensor() const {
return body_P_sensor_;
}

private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
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14 changes: 14 additions & 0 deletions gtsam/slam/slam.i
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Expand Up @@ -171,6 +171,20 @@ virtual class GenericStereoFactor : gtsam::NoiseModelFactor {
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel, size_t poseKey,
size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel, size_t poseKey,
size_t landmarkKey, const gtsam::Cal3_S2Stereo* K,
POSE body_P_sensor);

GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel, size_t poseKey,
size_t landmarkKey, const gtsam::Cal3_S2Stereo* K,
bool throwCheirality, bool verboseCheirality);
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel, size_t poseKey,
size_t landmarkKey, const gtsam::Cal3_S2Stereo* K,
bool throwCheirality, bool verboseCheirality,
POSE body_P_sensor);
gtsam::StereoPoint2 measured() const;
gtsam::Cal3_S2Stereo* calibration() const;

Expand Down
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