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Extend python bindings #843

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merged 1 commit into from
Nov 17, 2024
Merged

Extend python bindings #843

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14 changes: 12 additions & 2 deletions python/types/sba/py_types_six_dof_expmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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>(
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