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Expose 3d point attribute p of SfmTrack in wrapper #537

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merged 11 commits into from
Sep 23, 2020
Merged

Expose 3d point attribute p of SfmTrack in wrapper #537

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169d42f
use cleaner checkmark symbol in readme
johnwlambert Sep 21, 2020
7478c19
update example list
johnwlambert Sep 21, 2020
0e7719a
update python examples list
johnwlambert Sep 21, 2020
2af5630
add p
Sep 21, 2020
0d19859
add python equivalent of c++ sfm data calls
Sep 21, 2020
afa74c4
cannot retrieve p attribute
Sep 21, 2020
749971d
Merge branch 'SFMExample_bal_python' of https://github.com/johnwlambe…
Sep 21, 2020
34f670e
remove BAL for now, and add get3dPoint() for p access
Sep 22, 2020
8e0b0c1
mark SFMExample_bal as still in progress
johnwlambert Sep 22, 2020
e6057fc
rename get3dPoint() to point3()
Sep 23, 2020
82be5e2
Merge branch 'SfmTrack_expose_p' of https://github.com/johnwlambert/g…
Sep 23, 2020
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1 change: 1 addition & 0 deletions gtsam/gtsam.i
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Expand Up @@ -2847,6 +2847,7 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {

#include <gtsam/slam/dataset.h>
class SfmTrack {
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I’d prefer the name point3

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sure, so rename p to be point3? I think we will need to rename it in the following examples in this PR then since it's a breaking change:

  • examples/CreateSFMExampleData.cpp
  • timing/timeSFMBALnavTcam.cpp
  • timing/timeSFMBAL.cpp
  • examples/SFMExample_bal_COLAMD_METIS.cpp
  • examples/SFMExampleExpressions_bal.cpp
  • examples/SFMExample_bal.cpp

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Nope, rename get3dPoint to point3.

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Ah I see, @dellaert do you mind confirming that and I can quickly make the change? I guess “get*()” is not preferred in GTSAM?

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Indeed, no get...

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pushed the update, should be good to go now

Point3 point3() const;
size_t number_measurements() const;
pair<size_t, gtsam::Point2> measurement(size_t idx) const;
pair<size_t, size_t> siftIndex(size_t idx) const;
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3 changes: 3 additions & 0 deletions gtsam/slam/dataset.h
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Expand Up @@ -233,6 +233,9 @@ struct SfmTrack {
SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx];
}
Point3 point3() const {
return p;
}
};

/// Define the structure for the camera poses
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38 changes: 25 additions & 13 deletions python/gtsam/examples/README.md
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Expand Up @@ -3,50 +3,62 @@
| C++ Example Name | Ported |
|-------------------------------------------------------|--------|
| CameraResectioning | |
| CombinedImuFactorsExample | |
| CreateSFMExampleData | |
| DiscreteBayesNetExample | |
| DiscreteBayesNet_FG | none of the required discrete functionality is exposed through Python |
| easyPoint2KalmanFilter | ExtendedKalmanFilter not yet exposed through Python |
| elaboratePoint2KalmanFilter | GaussianSequentialSolver not yet exposed through Python |
| ImuFactorExample2 | X |
| FisheyeExample | |
| HMMExample | |
| ImuFactorsExample2 | :heavy_check_mark: |
| ImuFactorsExample | |
| IMUKittiExampleGPS | |
| InverseKinematicsExampleExpressions.cpp | |
| ISAM2Example_SmartFactor | |
| ISAM2_SmartFactorStereo_IMU | |
| LocalizationExample | impossible? |
| METISOrderingExample | |
| OdometryExample | X |
| PlanarSLAMExample | X |
| Pose2SLAMExample | X |
| OdometryExample | :heavy_check_mark: |
| PlanarSLAMExample | :heavy_check_mark: |
| Pose2SLAMExample | :heavy_check_mark: |
| Pose2SLAMExampleExpressions | |
| Pose2SLAMExample_g2o | X |
| Pose2SLAMExample_g2o | :heavy_check_mark: |
| Pose2SLAMExample_graph | |
| Pose2SLAMExample_graphviz | |
| Pose2SLAMExample_lago | lago not yet exposed through Python |
| Pose2SLAMStressTest | |
| Pose2SLAMwSPCG | |
| Pose3Localization | |
| Pose3SLAMExample_changeKeys | |
| Pose3SLAMExampleExpressions_BearingRangeWithTransform | |
| Pose3SLAMExample_g2o | X |
| Pose3SLAMExample_initializePose3Chordal | |
| Pose3SLAMExample_g2o | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Chordal | :heavy_check_mark: |
| Pose3SLAMExample_initializePose3Gradient | |
| RangeISAMExample_plaza2 | |
| SelfCalibrationExample | |
| SFMdata | |
| SFMExample_bal_COLAMD_METIS | |
| SFMExample_bal | |
| SFMExample | X |
| SFMExample_bal | |
| SFMExample | :heavy_check_mark: |
| SFMExampleExpressions_bal | |
| SFMExampleExpressions | |
| SFMExample_SmartFactor | |
| SFMExample_SmartFactorPCG | |
| SimpleRotation | X |
| ShonanAveragingCLI | :heavy_check_mark: |
| SimpleRotation | :heavy_check_mark: |
| SolverComparer | |
| StereoVOExample | |
| StereoVOExample_large | |
| TimeTBB | |
| UGM_chain | discrete functionality not yet exposed |
| UGM_small | discrete functionality not yet exposed |
| VisualISAM2Example | X |
| VisualISAMExample | X |
| VisualISAM2Example | :heavy_check_mark: |
| VisualISAMExample | :heavy_check_mark: |

Extra Examples (with no C++ equivalent)
- DogLegOptimizerExample
- GPSFactorExample
- PlanarManipulatorExample
- SFMData
- PreintegrationExample
- SFMData