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Extend python wrapper to include fisheye models.
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Extend python wrapper to include fisheye camera models Cal3Fisheye and Cal3Unified.
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@roderick-koehle
roderick-koehle authored Jul 8, 2021
1 parent cd3854a commit dfd50f9
Showing 1 changed file with 90 additions and 12 deletions.
102 changes: 90 additions & 12 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -231,7 +231,7 @@ virtual class Value {
};

#include <gtsam/base/GenericValue.h>
template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::Cal3Fisheye, gtsam::Cal3Unified, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
virtual class GenericValue : gtsam::Value {
void serializable() const;
};
Expand Down Expand Up @@ -977,6 +977,52 @@ class Cal3Bundler {
void pickle() const;
};

#include <gtsam/geometry/Cal3Fisheye.h>
class Cal3Fisheye {
// Standard Constructors
Cal3Fisheye();
Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4);
Cal3Fisheye(double fx, double fy, double s, double u0, double v0, double k1, double k2, double k3, double k4, double tol);
Cal3Fisheye(Vector v);

// Testable
void print(string s = "Cal3Fisheye") const;
bool equals(const gtsam::Cal3Fisheye& rhs, double tol) const;

// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3Fisheye retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3Fisheye& c) const;

// Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;

// Standard Interface
double fx() const;
double fy() const;
double skew() const;
double k1() const;
double k2() const;
double k3() const;
double k4() const;
double px() const;
double py() const;
gtsam::Point2 principalPoint() const;
Vector vector() const;
Vector k() const;
Matrix K() const;
Matrix inverse() const;

// enabling serialization functionality
void serialize() const;

// enable pickling in python
void pickle() const;
};


#include <gtsam/geometry/CalibratedCamera.h>
class CalibratedCamera {
// Standard Constructors and Named Constructors
Expand Down Expand Up @@ -1085,6 +1131,7 @@ typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;

template<T>
class CameraSet {
Expand Down Expand Up @@ -1145,7 +1192,13 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements, double rank_tol,
bool optimize);

gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements, double rank_tol,
bool optimize);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements, double rank_tol,
bool optimize);

//*************************************************************************
// Symbolic
//*************************************************************************
Expand Down Expand Up @@ -2118,8 +2171,11 @@ class NonlinearFactorGraph {
template <T = {double, Vector, gtsam::Point2, gtsam::StereoPoint2,
gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4,
gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,
gtsam::Cal3Fisheye, gtsam::Cal3Unified,
gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCameraCal3Bundler,
gtsam::PinholeCameraCal3Fisheye,
gtsam::PinholeCameraCal3Unified,
gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior,
const gtsam::noiseModel::Base* noiseModel);
Expand Down Expand Up @@ -2252,9 +2308,13 @@ class Values {
void insert(size_t j, const gtsam::Cal3_S2& cal3_s2);
void insert(size_t j, const gtsam::Cal3DS2& cal3ds2);
void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
void insert(size_t j, const gtsam::Cal3Fisheye& cal3fisheye);
void insert(size_t j, const gtsam::Cal3Unified& cal3unified);
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::PinholeCamera<gtsam::Cal3Bundler>& camera);
void insert(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void insert(size_t j, const gtsam::PinholeCameraCal3Fisheye& camera);
void insert(size_t j, const gtsam::PinholeCameraCal3Unified& camera);
void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
void insert(size_t j, const gtsam::NavState& nav_state);
void insert(size_t j, double c);
Expand All @@ -2272,9 +2332,13 @@ class Values {
void update(size_t j, const gtsam::Cal3_S2& cal3_s2);
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::Cal3Fisheye& cal3fisheye);
void update(size_t j, const gtsam::Cal3Unified& cal3unified);
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::PinholeCamera<gtsam::Cal3Bundler>& camera);
void update(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
void update(size_t j, const gtsam::PinholeCameraCal3Fisheye& camera);
void update(size_t j, const gtsam::PinholeCameraCal3Unified& 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);
Expand All @@ -2294,10 +2358,14 @@ class Values {
gtsam::Cal3_S2,
gtsam::Cal3DS2,
gtsam::Cal3Bundler,
gtsam::EssentialMatrix,
gtsam::Cal3Fisheye,
gtsam::Cal3Unified,
gtsam::EssentialMatrix,
gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::imuBias::ConstantBias,
gtsam::PinholeCameraCal3Bundler,
gtsam::PinholeCameraCal3Fisheye,
gtsam::PinholeCameraCal3Unified,
gtsam::imuBias::ConstantBias,
gtsam::NavState,
Vector,
Matrix,
Expand Down Expand Up @@ -2603,7 +2671,9 @@ class ISAM2 {
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCameraCal3_S2, gtsam::PinholeCameraCal3Bundler,
gtsam::Cal3Fisheye, gtsam::Cal3Unified,
gtsam::PinholeCameraCal3Fisheye, gtsam::PinholeCameraCal3Unified,
Vector, Matrix}>
VALUE calculateEstimate(size_t key) const;
gtsam::Values calculateBestEstimate() const;
Expand Down Expand Up @@ -2655,10 +2725,14 @@ template <T = {double,
gtsam::Cal3_S2,
gtsam::Cal3DS2,
gtsam::Cal3Bundler,
gtsam::Cal3Fisheye,
gtsam::Cal3Unified,
gtsam::CalibratedCamera,
gtsam::PinholeCameraCal3_S2,
gtsam::imuBias::ConstantBias,
gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
gtsam::PinholeCameraCal3Bundler,
gtsam::PinholeCameraCal3Fisheye,
gtsam::PinholeCameraCal3Unified}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
Expand Down Expand Up @@ -2800,6 +2874,8 @@ virtual class GenericProjectionFactor : gtsam::NoiseModelFactor {
};
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Fisheye> GenericProjectionFactorCal3Fisheye;
typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3Unified> GenericProjectionFactorCal3Unified;


#include <gtsam/slam/GeneralSFMFactor.h>
Expand All @@ -2810,9 +2886,11 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
};
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3Bundler, gtsam::Point3> GeneralSFMFactorCal3Bundler;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3Fisheye, gtsam::Point3> GeneralSFMFactorCal3Fisheye;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3Unified, gtsam::Point3> GeneralSFMFactorCal3Unified;

template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler}>
template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::Cal3Fisheye, gtsam::Cal3Unified}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
gtsam::Point2 measured() const;
Expand Down

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