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Wrap FindKarcherMean for Rot3 #1069

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merged 16 commits into from
Jan 28, 2022
Merged

Wrap FindKarcherMean for Rot3 #1069

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41384d1
Update slam.i
johnwlambert Jan 26, 2022
8ba9ae5
fix typo
johnwlambert Jan 26, 2022
b7a502e
fix typo
johnwlambert Jan 26, 2022
055e027
fix template bug
johnwlambert Jan 27, 2022
20622c2
add new type for vector of Rot3's
johnwlambert Jan 27, 2022
9e63911
add Rot3Vector type to specializations
johnwlambert Jan 27, 2022
6678fe0
add Rot3Vector to python/CMakeLists.txt
johnwlambert Jan 27, 2022
15c3dd4
make vector of Rot3's opaque
johnwlambert Jan 27, 2022
72e4a9a
Address Akshay comments
johnwlambert Jan 27, 2022
2f3fe73
fix templated function
johnwlambert Jan 27, 2022
8a22ffa
define FindKarcherMean in .i file
johnwlambert Jan 27, 2022
e0b37ed
use Eigen::aligned_allocator
johnwlambert Jan 27, 2022
56312d9
use Eigen::aligned_allocator
johnwlambert Jan 27, 2022
d37881e
use aligned allocator for Rot3Vector
johnwlambert Jan 27, 2022
01f3fe5
Merge branch 'develop' into wrap-karcher-mean-rot3
dellaert Jan 28, 2022
55d8399
Fix wrapping
dellaert Jan 28, 2022
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9 changes: 9 additions & 0 deletions gtsam/slam/slam.i
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Expand Up @@ -322,6 +322,15 @@ template <T = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
virtual class KarcherMeanFactor : gtsam::NonlinearFactor {
KarcherMeanFactor(const gtsam::KeyVector& keys);
};

class Rot3Vector {
Rot3Vector();

// structure specific methods
gtsam::Rot3 at(size_t i) const;
void push_back(const gtsam::Rot3& R);
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};
const gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const Rot3Vector& rotations);
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no need for const in the return type: gtsam::Rot3 FindKarcherMean<gtsam::Rot3>(const Rot3Vector& rotations);


#include <gtsam/slam/FrobeniusFactor.h>
gtsam::noiseModel::Isotropic* ConvertNoiseModel(gtsam::noiseModel::Base* model,
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1 change: 1 addition & 0 deletions python/CMakeLists.txt
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Expand Up @@ -45,6 +45,7 @@ set(ignore
gtsam::Point3Pairs
gtsam::Pose3Pairs
gtsam::Pose3Vector
gtsam::Rot3Vector
gtsam::KeyVector
gtsam::BinaryMeasurementsUnit3
gtsam::DiscreteKey
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1 change: 1 addition & 0 deletions python/gtsam/preamble/slam.h
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Expand Up @@ -15,3 +15,4 @@ PYBIND11_MAKE_OPAQUE(
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > >);
PYBIND11_MAKE_OPAQUE(
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Rot3>);
1 change: 1 addition & 0 deletions python/gtsam/specializations/slam.h
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Expand Up @@ -17,3 +17,4 @@ py::bind_vector<
py::bind_vector<
std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(
m_, "BetweenFactorPose2s");
py::bind_vector<std::vector<gtsam::Rot3>>(m_, "Rot3Vector");
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Are you sure you don't need aligned allocator?

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Thanks for the review @ProfFan and @akshay-krishnan.

Let me check about aligned allocator. Btw I don't love the name Rot3Vector so much ... sounds like a vector representation of a Rot3. But Rot3Set would not be consistent with Pose3Vector nomenclature. So I guess it works.