/** * @file slam.cpp * @brief The auto-generated wrapper C++ source code. * @author Duy-Nguyen Ta, Fan Jiang, Matthew Sklar, Varun Agrawal * @date Aug. 18, 2020 * * ** THIS FILE IS AUTO-GENERATED, DO NOT MODIFY! ** */ #define PYBIND11_DETAILED_ERROR_MESSAGES // Include relevant boost libraries required by GTSAM #include #include #include #include #include #include #include #include "gtsam/config.h" #include "gtsam/base/serialization.h" #include "gtsam/base/utilities.h" // for RedirectCout. // These are the included headers listed in `gtsam.i` #include "gtsam/geometry/Cal3DS2.h" #include "gtsam/geometry/SO4.h" #include "gtsam/navigation/ImuBias.h" #include "gtsam/slam/BetweenFactor.h" #include "gtsam/slam/ProjectionFactor.h" #include "gtsam/slam/GeneralSFMFactor.h" #include "gtsam/slam/SmartProjectionFactor.h" #include "gtsam/slam/SmartProjectionPoseFactor.h" #include "gtsam/slam/StereoFactor.h" #include "gtsam/slam/PoseTranslationPrior.h" #include "gtsam/slam/PoseRotationPrior.h" #include "gtsam/slam/EssentialMatrixFactor.h" #include "gtsam/slam/EssentialMatrixConstraint.h" #include "gtsam/slam/dataset.h" #include "gtsam/slam/InitializePose3.h" #include "gtsam/slam/KarcherMeanFactor-inl.h" #include "gtsam/slam/FrobeniusFactor.h" #include "gtsam/slam/lago.h" #include // Export classes for serialization BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::BetweenFactor) BOOST_CLASS_EXPORT(gtsam::GeneralSFMFactor2) BOOST_CLASS_EXPORT(gtsam::GeneralSFMFactor2) BOOST_CLASS_EXPORT(gtsam::GeneralSFMFactor2) BOOST_CLASS_EXPORT(gtsam::GeneralSFMFactor2) BOOST_CLASS_EXPORT(gtsam::GeneralSFMFactor2) typedef gtsam::GenericProjectionFactor gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3_S2; BOOST_CLASS_EXPORT(gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3_S2) typedef gtsam::GenericProjectionFactor gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3DS2; BOOST_CLASS_EXPORT(gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3DS2) typedef gtsam::GenericProjectionFactor gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3Fisheye; BOOST_CLASS_EXPORT(gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3Fisheye) typedef gtsam::GenericProjectionFactor gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3Unified; BOOST_CLASS_EXPORT(gtsamGenericProjectionFactorgtsamPose3gtsamPoint3gtsamCal3Unified) BOOST_CLASS_EXPORT(gtsam::SmartProjectionPoseFactor) typedef gtsam::GenericStereoFactor gtsamGenericStereoFactorgtsamPose3gtsamPoint3; BOOST_CLASS_EXPORT(gtsamGenericStereoFactorgtsamPose3gtsamPoint3) BOOST_CLASS_EXPORT(gtsam::PoseTranslationPrior) BOOST_CLASS_EXPORT(gtsam::PoseTranslationPrior) // Holder type for pybind11 PYBIND11_DECLARE_HOLDER_TYPE(TYPE_PLACEHOLDER_DONOTUSE, boost::shared_ptr); // Preamble for STL classes // TODO(fan): make this automatic #include "python/gtsam/preamble/slam.h" using namespace std; namespace py = pybind11; void slam(py::module_ &m_) { m_.doc() = "pybind11 wrapper of slam"; py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorDouble") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorVector") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorPoint2") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorPoint3") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorRot2") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorSO3") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorSO4") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorRot3") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorPose2") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorPose3") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "BetweenFactorConstantBias") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("relativePose"), py::arg("noiseModel")) .def("measured",[](gtsam::BetweenFactor* self){return self->measured();}) .def("serialize", [](gtsam::BetweenFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::BetweenFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::BetweenFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::BetweenFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GeneralSFMFactor2Cal3_S2") .def(py::init, size_t, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("calibKey")) .def("measured",[](gtsam::GeneralSFMFactor2* self){return self->measured();}) .def("serialize", [](gtsam::GeneralSFMFactor2* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GeneralSFMFactor2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GeneralSFMFactor2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GeneralSFMFactor2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GeneralSFMFactor2Cal3DS2") .def(py::init, size_t, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("calibKey")) .def("measured",[](gtsam::GeneralSFMFactor2* self){return self->measured();}) .def("serialize", [](gtsam::GeneralSFMFactor2* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GeneralSFMFactor2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GeneralSFMFactor2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GeneralSFMFactor2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GeneralSFMFactor2Cal3Bundler") .def(py::init, size_t, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("calibKey")) .def("measured",[](gtsam::GeneralSFMFactor2* self){return self->measured();}) .def("serialize", [](gtsam::GeneralSFMFactor2* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GeneralSFMFactor2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GeneralSFMFactor2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GeneralSFMFactor2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GeneralSFMFactor2Cal3Fisheye") .def(py::init, size_t, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("calibKey")) .def("measured",[](gtsam::GeneralSFMFactor2* self){return self->measured();}) .def("serialize", [](gtsam::GeneralSFMFactor2* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GeneralSFMFactor2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GeneralSFMFactor2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GeneralSFMFactor2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GeneralSFMFactor2Cal3Unified") .def(py::init, size_t, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("calibKey")) .def("measured",[](gtsam::GeneralSFMFactor2* self){return self->measured();}) .def("serialize", [](gtsam::GeneralSFMFactor2* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GeneralSFMFactor2* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GeneralSFMFactor2 &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GeneralSFMFactor2 obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::enum_(m_, "LinearizationMode", py::arithmetic()) .value("HESSIAN", gtsam::LinearizationMode::HESSIAN) .value("IMPLICIT_SCHUR", gtsam::LinearizationMode::IMPLICIT_SCHUR) .value("JACOBIAN_Q", gtsam::LinearizationMode::JACOBIAN_Q) .value("JACOBIAN_SVD", gtsam::LinearizationMode::JACOBIAN_SVD); py::enum_(m_, "DegeneracyMode", py::arithmetic()) .value("IGNORE_DEGENERACY", gtsam::DegeneracyMode::IGNORE_DEGENERACY) .value("ZERO_ON_DEGENERACY", gtsam::DegeneracyMode::ZERO_ON_DEGENERACY) .value("HANDLE_INFINITY", gtsam::DegeneracyMode::HANDLE_INFINITY); py::class_>(m_, "SmartProjectionParams") .def(py::init<>()) .def("setLinearizationMode",[](gtsam::SmartProjectionParams* self, gtsam::LinearizationMode linMode){ self->setLinearizationMode(linMode);}, py::arg("linMode")) .def("setDegeneracyMode",[](gtsam::SmartProjectionParams* self, gtsam::DegeneracyMode degMode){ self->setDegeneracyMode(degMode);}, py::arg("degMode")) .def("setRankTolerance",[](gtsam::SmartProjectionParams* self, double rankTol){ self->setRankTolerance(rankTol);}, py::arg("rankTol")) .def("setEnableEPI",[](gtsam::SmartProjectionParams* self, bool enableEPI){ self->setEnableEPI(enableEPI);}, py::arg("enableEPI")) .def("setLandmarkDistanceThreshold",[](gtsam::SmartProjectionParams* self, bool landmarkDistanceThreshold){ self->setLandmarkDistanceThreshold(landmarkDistanceThreshold);}, py::arg("landmarkDistanceThreshold")) .def("setDynamicOutlierRejectionThreshold",[](gtsam::SmartProjectionParams* self, bool dynOutRejectionThreshold){ self->setDynamicOutlierRejectionThreshold(dynOutRejectionThreshold);}, py::arg("dynOutRejectionThreshold")); py::class_>(m_, "EssentialMatrixFactor") .def(py::init>(), py::arg("key"), py::arg("pA"), py::arg("pB"), py::arg("noiseModel")) .def("print",[](gtsam::EssentialMatrixFactor* self, string s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) .def("__repr__", [](const gtsam::EssentialMatrixFactor& self, string s, const gtsam::KeyFormatter& keyFormatter){ gtsam::RedirectCout redirect; self.print(s, keyFormatter); return redirect.str(); }, py::arg("s") = "", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) .def("equals",[](gtsam::EssentialMatrixFactor* self, const gtsam::EssentialMatrixFactor& other, double tol){return self->equals(other, tol);}, py::arg("other"), py::arg("tol")) .def("evaluateError",[](gtsam::EssentialMatrixFactor* self, const gtsam::EssentialMatrix& E){return self->evaluateError(E);}, py::arg("E")); py::class_>(m_, "EssentialMatrixConstraint") .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("measuredE"), py::arg("model")) .def("print",[](gtsam::EssentialMatrixConstraint* self, string s, const gtsam::KeyFormatter& keyFormatter){ py::scoped_ostream_redirect output; self->print(s, keyFormatter);}, py::arg("s") = "", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) .def("__repr__", [](const gtsam::EssentialMatrixConstraint& self, string s, const gtsam::KeyFormatter& keyFormatter){ gtsam::RedirectCout redirect; self.print(s, keyFormatter); return redirect.str(); }, py::arg("s") = "", py::arg("keyFormatter") = gtsam::DefaultKeyFormatter) .def("equals",[](gtsam::EssentialMatrixConstraint* self, const gtsam::EssentialMatrixConstraint& other, double tol){return self->equals(other, tol);}, py::arg("other"), py::arg("tol")) .def("evaluateError",[](gtsam::EssentialMatrixConstraint* self, const gtsam::Pose3& p1, const gtsam::Pose3& p2){return self->evaluateError(p1, p2);}, py::arg("p1"), py::arg("p2")) .def("measured",[](gtsam::EssentialMatrixConstraint* self){return self->measured();}); py::enum_(m_, "NoiseFormat", py::arithmetic()) .value("NoiseFormatG2O", gtsam::NoiseFormat::NoiseFormatG2O) .value("NoiseFormatTORO", gtsam::NoiseFormat::NoiseFormatTORO) .value("NoiseFormatGRAPH", gtsam::NoiseFormat::NoiseFormatGRAPH) .value("NoiseFormatCOV", gtsam::NoiseFormat::NoiseFormatCOV) .value("NoiseFormatAUTO", gtsam::NoiseFormat::NoiseFormatAUTO); py::enum_(m_, "KernelFunctionType", py::arithmetic()) .value("KernelFunctionTypeNONE", gtsam::KernelFunctionType::KernelFunctionTypeNONE) .value("KernelFunctionTypeHUBER", gtsam::KernelFunctionType::KernelFunctionTypeHUBER) .value("KernelFunctionTypeTUKEY", gtsam::KernelFunctionType::KernelFunctionTypeTUKEY); py::class_>(m_, "InitializePose3") .def_static("computeOrientationsChordal",[](const gtsam::NonlinearFactorGraph& pose3Graph){return gtsam::InitializePose3::computeOrientationsChordal(pose3Graph);}, py::arg("pose3Graph")) .def_static("computeOrientationsGradient",[](const gtsam::NonlinearFactorGraph& pose3Graph, const gtsam::Values& givenGuess, size_t maxIter, const bool setRefFrame){return gtsam::InitializePose3::computeOrientationsGradient(pose3Graph, givenGuess, maxIter, setRefFrame);}, py::arg("pose3Graph"), py::arg("givenGuess"), py::arg("maxIter"), py::arg("setRefFrame")) .def_static("computeOrientationsGradient",[](const gtsam::NonlinearFactorGraph& pose3Graph, const gtsam::Values& givenGuess){return gtsam::InitializePose3::computeOrientationsGradient(pose3Graph, givenGuess);}, py::arg("pose3Graph"), py::arg("givenGuess")) .def_static("buildPose3graph",[](const gtsam::NonlinearFactorGraph& graph){return gtsam::InitializePose3::buildPose3graph(graph);}, py::arg("graph")) .def_static("initializeOrientations",[](const gtsam::NonlinearFactorGraph& graph){return gtsam::InitializePose3::initializeOrientations(graph);}, py::arg("graph")) .def_static("initialize",[](const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& givenGuess, bool useGradient){return gtsam::InitializePose3::initialize(graph, givenGuess, useGradient);}, py::arg("graph"), py::arg("givenGuess"), py::arg("useGradient")) .def_static("initialize",[](const gtsam::NonlinearFactorGraph& graph){return gtsam::InitializePose3::initialize(graph);}, py::arg("graph")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorPoint2") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorRot2") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorPose2") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorPoint3") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorSO3") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorSO4") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorRot3") .def(py::init(), py::arg("keys")); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "KarcherMeanFactorPose3") .def(py::init(), py::arg("keys")); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "FrobeniusFactorSO3") .def(py::init(), py::arg("key1"), py::arg("key2")) .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("model")) .def("evaluateError",[](gtsam::FrobeniusFactor* self, const gtsam::SO3& R1, const gtsam::SO3& R2){return self->evaluateError(R1, R2);}, py::arg("R1"), py::arg("R2")); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "FrobeniusFactorSO4") .def(py::init(), py::arg("key1"), py::arg("key2")) .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("model")) .def("evaluateError",[](gtsam::FrobeniusFactor* self, const gtsam::SO4& R1, const gtsam::SO4& R2){return self->evaluateError(R1, R2);}, py::arg("R1"), py::arg("R2")); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "FrobeniusBetweenFactorSO3") .def(py::init(), py::arg("key1"), py::arg("key2"), py::arg("R12")) .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("R12"), py::arg("model")) .def("evaluateError",[](gtsam::FrobeniusBetweenFactor* self, const gtsam::SO3& R1, const gtsam::SO3& R2){return self->evaluateError(R1, R2);}, py::arg("R1"), py::arg("R2")); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "FrobeniusBetweenFactorSO4") .def(py::init(), py::arg("key1"), py::arg("key2"), py::arg("R12")) .def(py::init>(), py::arg("key1"), py::arg("key2"), py::arg("R12"), py::arg("model")) .def("evaluateError",[](gtsam::FrobeniusBetweenFactor* self, const gtsam::SO4& R1, const gtsam::SO4& R2){return self->evaluateError(R1, R2);}, py::arg("R1"), py::arg("R2")); pybind11::module m_lago = m_.def_submodule("lago", "lago submodule"); m_lago.def("initialize",[](const gtsam::NonlinearFactorGraph& graph, bool useOdometricPath){return gtsam::lago::initialize(graph, useOdometricPath);}, py::arg("graph"), py::arg("useOdometricPath") = true); m_lago.def("initialize",[](const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialGuess){return gtsam::lago::initialize(graph, initialGuess);}, py::arg("graph"), py::arg("initialGuess")); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GenericProjectionFactorCal3_S2") .def(py::init, size_t, size_t, const boost::shared_ptr>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k")) .def(py::init, size_t, size_t, const boost::shared_ptr, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("body_P_sensor")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality"), py::arg("body_P_sensor")) .def("measured",[](gtsam::GenericProjectionFactor* self){return self->measured();}) .def("calibration",[](gtsam::GenericProjectionFactor* self){return self->calibration();}) .def("verboseCheirality",[](gtsam::GenericProjectionFactor* self){return self->verboseCheirality();}) .def("throwCheirality",[](gtsam::GenericProjectionFactor* self){return self->throwCheirality();}) .def("serialize", [](gtsam::GenericProjectionFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GenericProjectionFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GenericProjectionFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GenericProjectionFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GenericProjectionFactorCal3DS2") .def(py::init, size_t, size_t, const boost::shared_ptr>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k")) .def(py::init, size_t, size_t, const boost::shared_ptr, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("body_P_sensor")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality"), py::arg("body_P_sensor")) .def("measured",[](gtsam::GenericProjectionFactor* self){return self->measured();}) .def("calibration",[](gtsam::GenericProjectionFactor* self){return self->calibration();}) .def("verboseCheirality",[](gtsam::GenericProjectionFactor* self){return self->verboseCheirality();}) .def("throwCheirality",[](gtsam::GenericProjectionFactor* self){return self->throwCheirality();}) .def("serialize", [](gtsam::GenericProjectionFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GenericProjectionFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GenericProjectionFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GenericProjectionFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GenericProjectionFactorCal3Fisheye") .def(py::init, size_t, size_t, const boost::shared_ptr>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k")) .def(py::init, size_t, size_t, const boost::shared_ptr, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("body_P_sensor")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality"), py::arg("body_P_sensor")) .def("measured",[](gtsam::GenericProjectionFactor* self){return self->measured();}) .def("calibration",[](gtsam::GenericProjectionFactor* self){return self->calibration();}) .def("verboseCheirality",[](gtsam::GenericProjectionFactor* self){return self->verboseCheirality();}) .def("throwCheirality",[](gtsam::GenericProjectionFactor* self){return self->throwCheirality();}) .def("serialize", [](gtsam::GenericProjectionFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GenericProjectionFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GenericProjectionFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GenericProjectionFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GenericProjectionFactorCal3Unified") .def(py::init, size_t, size_t, const boost::shared_ptr>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k")) .def(py::init, size_t, size_t, const boost::shared_ptr, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("body_P_sensor")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality")) .def(py::init, size_t, size_t, const boost::shared_ptr, bool, bool, const gtsam::Pose3&>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("pointKey"), py::arg("k"), py::arg("throwCheirality"), py::arg("verboseCheirality"), py::arg("body_P_sensor")) .def("measured",[](gtsam::GenericProjectionFactor* self){return self->measured();}) .def("calibration",[](gtsam::GenericProjectionFactor* self){return self->calibration();}) .def("verboseCheirality",[](gtsam::GenericProjectionFactor* self){return self->verboseCheirality();}) .def("throwCheirality",[](gtsam::GenericProjectionFactor* self){return self->throwCheirality();}) .def("serialize", [](gtsam::GenericProjectionFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GenericProjectionFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GenericProjectionFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GenericProjectionFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorCal3_S2") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorCal3DS2") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorCal3Bundler") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorCal3Fisheye") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorCal3Unified") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorPoseCal3_S2") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorPoseCal3DS2") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorPoseCal3Bundler") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorPoseCal3Fisheye") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::Point3>, gtsam::NoiseModelFactor, boost::shared_ptr, gtsam::Point3>>>(m_, "GeneralSFMFactorPoseCal3Unified") .def(py::init, size_t, size_t>(), py::arg("measured"), py::arg("model"), py::arg("cameraKey"), py::arg("landmarkKey")) .def("measured",[](gtsam::GeneralSFMFactor, gtsam::Point3>* self){return self->measured();}); py::class_, gtsam::NonlinearFactor, boost::shared_ptr>>(m_, "SmartProjectionPose3Factor") .def(py::init, const boost::shared_ptr>(), py::arg("noise"), py::arg("K")) .def(py::init, const boost::shared_ptr, const gtsam::Pose3&>(), py::arg("noise"), py::arg("K"), py::arg("body_P_sensor")) .def(py::init, const boost::shared_ptr, const gtsam::SmartProjectionParams&>(), py::arg("noise"), py::arg("K"), py::arg("params")) .def(py::init, const boost::shared_ptr, const gtsam::Pose3&, const gtsam::SmartProjectionParams&>(), py::arg("noise"), py::arg("K"), py::arg("body_P_sensor"), py::arg("params")) .def("add",[](gtsam::SmartProjectionPoseFactor* self, const gtsam::Point2& measured_i, size_t poseKey_i){ self->add(measured_i, poseKey_i);}, py::arg("measured_i"), py::arg("poseKey_i")) .def("serialize", [](gtsam::SmartProjectionPoseFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::SmartProjectionPoseFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::SmartProjectionPoseFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::SmartProjectionPoseFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "GenericStereoFactor3D") .def(py::init, size_t, size_t, const boost::shared_ptr>(), py::arg("measured"), py::arg("noiseModel"), py::arg("poseKey"), py::arg("landmarkKey"), py::arg("K")) .def("measured",[](gtsam::GenericStereoFactor* self){return self->measured();}) .def("calibration",[](gtsam::GenericStereoFactor* self){return self->calibration();}) .def("serialize", [](gtsam::GenericStereoFactor* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::GenericStereoFactor* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::GenericStereoFactor &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::GenericStereoFactor obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "PoseTranslationPrior2D") .def(py::init>(), py::arg("key"), py::arg("pose_z"), py::arg("noiseModel")) .def("measured",[](gtsam::PoseTranslationPrior* self){return self->measured();}) .def("serialize", [](gtsam::PoseTranslationPrior* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::PoseTranslationPrior* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::PoseTranslationPrior &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::PoseTranslationPrior obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "PoseTranslationPrior3D") .def(py::init>(), py::arg("key"), py::arg("pose_z"), py::arg("noiseModel")) .def("measured",[](gtsam::PoseTranslationPrior* self){return self->measured();}) .def("serialize", [](gtsam::PoseTranslationPrior* self){ return gtsam::serialize(*self); }) .def("deserialize", [](gtsam::PoseTranslationPrior* self, string serialized){ gtsam::deserialize(serialized, *self); }, py::arg("serialized")) .def(py::pickle( [](const gtsam::PoseTranslationPrior &a){ /* __getstate__: Returns a string that encodes the state of the object */ return py::make_tuple(gtsam::serialize(a)); }, [](py::tuple t){ /* __setstate__ */ gtsam::PoseTranslationPrior obj; gtsam::deserialize(t[0].cast(), obj); return obj; })); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "PoseRotationPrior2D") .def(py::init>(), py::arg("key"), py::arg("pose_z"), py::arg("noiseModel")) .def("measured",[](gtsam::PoseRotationPrior* self){return self->measured();}); py::class_, gtsam::NoiseModelFactor, boost::shared_ptr>>(m_, "PoseRotationPrior3D") .def(py::init>(), py::arg("key"), py::arg("pose_z"), py::arg("noiseModel")) .def("measured",[](gtsam::PoseRotationPrior* self){return self->measured();}); m_.def("load2D",[](string filename, boost::shared_ptr