Merge pull request #537 from johnwlambert/SfmTrack_expose_p

Expose 3d point attribute p of SfmTrack in wrapper
borglab · Sep 23, 2020 · f6ef1d6 · f6ef1d6
2 parents a4c3623 + 82be5e2
commit f6ef1d6
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Showing 3 changed files with 29 additions and 13 deletions.
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -2853,6 +2853,7 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
 
 #include <gtsam/slam/dataset.h>
 class SfmTrack {
+  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;

diff --git a/gtsam/slam/dataset.h b/gtsam/slam/dataset.h
@@ -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

diff --git a/python/gtsam/examples/README.md b/python/gtsam/examples/README.md
@@ -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