From 48fd71a7681c7a03e12bfc17275caa3bb213672e Mon Sep 17 00:00:00 2001
From: Rainer Kuemmerle <rainer.kuemmerle@gmail.com>
Date: Sun, 17 Nov 2024 11:06:43 +0100
Subject: [PATCH] Extend python bindings

Extend EdgeSE3ProjectXYZOnlyPose and EdgeStereoSE3ProjectXYZ to
read/write access to the camera parameters.
---
 python/types/sba/py_types_six_dof_expmap.cpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/python/types/sba/py_types_six_dof_expmap.cpp b/python/types/sba/py_types_six_dof_expmap.cpp
index 97ae2f260..9fa5eace9 100644
--- a/python/types/sba/py_types_six_dof_expmap.cpp
+++ b/python/types/sba/py_types_six_dof_expmap.cpp
@@ -98,7 +98,12 @@ void declareTypesSixDofExpmap(py::module& m) {
       .def("compute_error", &EdgeSE3ProjectXYZOnlyPose::computeError)
       .def("is_depth_positive", &EdgeSE3ProjectXYZOnlyPose::isDepthPositive)
       .def("linearize_oplus", &EdgeSE3ProjectXYZOnlyPose::linearizeOplus)
-      .def("cam_project", &EdgeSE3ProjectXYZOnlyPose::cam_project);
+      .def("cam_project", &EdgeSE3ProjectXYZOnlyPose::cam_project)
+      .def_readwrite("fx", &EdgeSE3ProjectXYZOnlyPose::fx)
+      .def_readwrite("fy", &EdgeSE3ProjectXYZOnlyPose::fy)
+      .def_readwrite("cx", &EdgeSE3ProjectXYZOnlyPose::cx)
+      .def_readwrite("cy", &EdgeSE3ProjectXYZOnlyPose::cy)
+      .def_readwrite("Xw", &EdgeSE3ProjectXYZOnlyPose::Xw);
 
   // Projection using focal_length in x and y directions stereo
   py::class_<EdgeStereoSE3ProjectXYZ,
@@ -109,7 +114,12 @@ void declareTypesSixDofExpmap(py::module& m) {
       .def("compute_error", &EdgeStereoSE3ProjectXYZ::computeError)
       .def("is_depth_positive", &EdgeStereoSE3ProjectXYZ::isDepthPositive)
       .def("linearize_oplus", &EdgeStereoSE3ProjectXYZ::linearizeOplus)
-      .def("cam_project", &EdgeStereoSE3ProjectXYZ::cam_project);
+      .def("cam_project", &EdgeStereoSE3ProjectXYZ::cam_project)
+      .def_readwrite("fx", &EdgeStereoSE3ProjectXYZ::fx)
+      .def_readwrite("fy", &EdgeStereoSE3ProjectXYZ::fy)
+      .def_readwrite("cx", &EdgeStereoSE3ProjectXYZ::cx)
+      .def_readwrite("cy", &EdgeStereoSE3ProjectXYZ::cy)
+      .def_readwrite("bf", &EdgeStereoSE3ProjectXYZ::bf);
 
   // Edge to optimize only the camera pose stereo
   templatedBaseUnaryEdge<3, Vector3, VertexSE3Expmap>(