more fixes for bindings

MRPT · Apr 27, 2023 · 2ac3893 · 2ac3893
1 parent a1b19a9
commit 2ac3893
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Showing 19 changed files with 219 additions and 186 deletions.
diff --git a/libs/poses/include/mrpt/poses/CPose3DGridTemplate.h b/libs/poses/include/mrpt/poses/CPose3DGridTemplate.h
@@ -285,14 +285,14 @@ class CPose3DGridTemplate
 			v = val;
 	}
 
-	auto getSizeX() const { return m_sizeX; }
-	auto getSizeY() const { return m_sizeY; }
-	auto getSizeZ() const { return m_sizeZ; }
-	auto getSizeYaw() const { return m_sizeYaw; }
-	auto getSizePitch() const { return m_sizePitch; }
-	auto getSizeRoll() const { return m_sizeRoll; }
-
-	auto getTotalVoxelCount() const { return m_size_xyzYPR; }
+	uint32_t getSizeX() const { return m_sizeX; }
+	uint32_t getSizeY() const { return m_sizeY; }
+	uint32_t getSizeZ() const { return m_sizeZ; }
+	uint32_t getSizeYaw() const { return m_sizeYaw; }
+	uint32_t getSizePitch() const { return m_sizePitch; }
+	uint32_t getSizeRoll() const { return m_sizeRoll; }
+
+	uint32_t getTotalVoxelCount() const { return m_size_xyzYPR; }
 
 	const std::vector<T>& getData() const { return m_data; }
 	std::vector<T>& getData() { return m_data; }

diff --git a/libs/slam/include/mrpt/slam/CMetricMapBuilder.h b/libs/slam/include/mrpt/slam/CMetricMapBuilder.h
@@ -113,18 +113,17 @@ class CMetricMapBuilder : public mrpt::system::COutputLogger
 	struct TOptions
 	{
 		TOptions(mrpt::system::VerbosityLevel& verb_level_ref)
-			: verbosity_level(verb_level_ref),
-			  enableMapUpdating(true),
-			  debugForceInsertion(false),
-			  alwaysInsertByClass()
+			: verbosity_level(verb_level_ref)
 		{
 		}
 
 		mrpt::system::VerbosityLevel& verbosity_level;
+
 		/** Enable map updating, default is true. */
-		bool enableMapUpdating;
+		bool enableMapUpdating = true;
+
 		/** Always insert into map. Default is false: detect if necesary. */
-		bool debugForceInsertion;
+		bool debugForceInsertion = false;
 
 		/** A list of observation classes (derived from mrpt::obs::CObservation)
 		 * which will be always inserted in the map, disregarding the minimum

diff --git a/libs/slam/src/slam/CMonteCarloLocalization2D.cpp b/libs/slam/src/slam/CMonteCarloLocalization2D.cpp
@@ -14,9 +14,10 @@
 #include <mrpt/obs/CSensoryFrame.h>
 #include <mrpt/random.h>
 #include <mrpt/slam/CMonteCarloLocalization2D.h>
-#include <mrpt/slam/PF_aux_structs.h>
 #include <mrpt/system/CTicTac.h>
 
+#include "PF_aux_structs.h"
+
 using namespace mrpt;
 using namespace mrpt::bayes;
 using namespace mrpt::poses;

diff --git a/libs/slam/src/slam/CMonteCarloLocalization3D.cpp b/libs/slam/src/slam/CMonteCarloLocalization3D.cpp
@@ -13,7 +13,8 @@
 #include <mrpt/math/utils.h>
 #include <mrpt/obs/CSensoryFrame.h>
 #include <mrpt/slam/CMonteCarloLocalization3D.h>
-#include <mrpt/slam/PF_aux_structs.h>
+
+#include "PF_aux_structs.h"
 
 using namespace std;
 using namespace mrpt;

diff --git a/libs/slam/src/slam/CMultiMetricMapPDF.cpp b/libs/slam/src/slam/CMultiMetricMapPDF.cpp
@@ -22,10 +22,11 @@
 #include <mrpt/poses/CPosePDFGrid.h>
 #include <mrpt/random.h>
 #include <mrpt/serialization/CArchive.h>
-#include <mrpt/slam/PF_aux_structs.h>
 #include <mrpt/system/CTicTac.h>
 #include <mrpt/system/os.h>
 
+#include "PF_aux_structs.h"
+
 using namespace mrpt;
 using namespace mrpt::math;
 using namespace mrpt::slam;

diff --git a/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp b/libs/slam/src/slam/CMultiMetricMapPDF_RBPF.cpp
@@ -23,9 +23,10 @@
 #include <mrpt/poses/CPosePDFGaussian.h>
 #include <mrpt/poses/CPosePDFGrid.h>
 #include <mrpt/random.h>
-#include <mrpt/slam/PF_aux_structs.h>
 #include <mrpt/system/CTicTac.h>
 
+#include "PF_aux_structs.h"
+
 using namespace mrpt;
 using namespace mrpt::bayes;
 using namespace mrpt::math;

diff --git a/libs/slam/include/mrpt/slam/PF_aux_structs.h → libs/slam/src/slam/PF_aux_structs.h b/libs/slam/include/mrpt/slam/PF_aux_structs.h → libs/slam/src/slam/PF_aux_structs.h
@@ -15,7 +15,6 @@
 namespace mrpt::slam::detail
 {
 using namespace mrpt;
-using namespace mrpt::math;
 using namespace std;
 
 /** Auxiliary structure used in KLD-sampling in particle filters \sa

diff --git a/libs/vision/include/mrpt/vision/utils.h b/libs/vision/include/mrpt/vision/utils.h
@@ -71,7 +71,7 @@ void openCV_cross_correlation(
  * image.
  *  \param A   [IN]   The 3x3 intrinsic parameters matrix for the camera.
  *  \return The mrpt::math::TPoint3D containing the output unitary vector.
- * \sa buildIntrinsicParamsMatrix, defaultIntrinsicParamsMatrix, TPixelCoordf
+ * \sa buildIntrinsicParamsMatrix, TPixelCoordf
  */
 mrpt::math::TPoint3D pixelTo3D(
 	const mrpt::img::TPixelCoordf& xy, const mrpt::math::CMatrixDouble33& A);
@@ -90,61 +90,12 @@ mrpt::math::TPoint3D pixelTo3D(
   </table>
   *  See also the tutorial discussing the <a
   rhref="http://www.mrpt.org/Camera_Parameters">camera model parameters</a>.
-  * \sa defaultIntrinsicParamsMatrix, pixelTo3D
+  * \sa pixelTo3D
   */
 mrpt::math::CMatrixDouble33 buildIntrinsicParamsMatrix(
 	const double focalLengthX, const double focalLengthY, const double centerX,
 	const double centerY);
 
-/** Returns the stored, default intrinsic params matrix for a given camera:
-  * \param camIndex     [IN]   Posible values are listed next.
-  * \param resolutionX  [IN]   The number of pixel columns
-  * \param resolutionY  [IN]   The number of pixel rows
-  *
-  * The matrix is generated for the indicated camera resolution configuration.
-  * The following table summarizes the current supported cameras and the values
-  as
-  *  ratios of the corresponding horz. or vert. resolution:<br>
-
-  <center><table>
-  <tr>
-   <td><center><b>camIndex</b></center></td>
-   <td><center><b>Manufacturer</b></center></td>
-   <td><center><b>Camera model</b></center></td>
-   <td><center><b>fx</b></center></td>
-   <td><center><b>fy</b></center></td>
-   <td><center><b>cx</b></center></td>
-   <td><center><b>cy</b></center></td>
-  </tr>
-
-  <tr>
-   <td><center>0</center></td>
-   <td><center>Point Grey Research</center></td>
-   <td><center>Bumblebee</center></td>
-   <td><center>0.79345</center></td>
-   <td><center>1.05793</center></td>
-   <td><center>0.55662</center></td>
-   <td><center>0.52692</center></td>
-  </tr>
-
-  <tr>
-   <td><center>1</center></td>
-   <td><center>Sony</center></td>
-   <td><center>???</center></td>
-   <td><center>0.95666094</center></td>
-   <td><center>1.3983423f</center></td>
-   <td><center>0.54626328f</center></td>
-   <td><center>0.4939191f</center></td>
-  </tr>
-  </table>
-  </center>
-
-  * \sa buildIntrinsicParamsMatrix, pixelTo3D
-  */
-mrpt::math::CMatrixDouble33 defaultIntrinsicParamsMatrix(
-	unsigned int camIndex = 0, unsigned int resolutionX = 320,
-	unsigned int resolutionY = 240);
-
 /** Computes the mean squared distance between a set of 3D correspondences
  * ...
  */

diff --git a/libs/vision/src/vision_utils.cpp b/libs/vision/src/vision_utils.cpp
@@ -168,43 +168,6 @@ CMatrixDouble33 vision::buildIntrinsicParamsMatrix(
 	return A;
 }
 
-/*-------------------------------------------------------------
-					defaultIntrinsicParamsMatrix
--------------------------------------------------------------*/
-CMatrixDouble33 vision::defaultIntrinsicParamsMatrix(
-	unsigned int camIndex, unsigned int resX, unsigned int resY)
-{
-	float fx, fy, cx, cy;
-
-	switch (camIndex)
-	{
-		case 0:
-			// Bumblebee:
-			fx = 0.79345f;
-			fy = 1.05793f;
-			cx = 0.55662f;
-			cy = 0.52692f;
-			break;
-
-		case 1:
-			// Sony:
-			fx = 0.95666094f;
-			fy = 1.3983423f;
-			cx = 0.54626328f;
-			cy = 0.4939191f;
-			break;
-
-		default:
-		{
-			THROW_EXCEPTION_FMT(
-				"Unknown camera index!! for 'camIndex'=%u", camIndex);
-		}
-	}
-
-	return buildIntrinsicParamsMatrix(
-		resX * fx, resY * fy, resX * cx, resY * cy);
-}
-
 /*-------------------------------------------------------------
 						computeMsd
 -------------------------------------------------------------*/
@@ -1893,9 +1856,8 @@ void vision::computeStereoRectificationMaps(
 }  // end computeStereoRectificationMaps
 
 TStereoSystemParams::TStereoSystemParams()
-
 {
-	K = defaultIntrinsicParamsMatrix(0, 640, 480);
+	// K = defaultIntrinsicParamsMatrix(0, 640, 480);
 	F.setZero();
 	F(1, 2) = -1;
 	F(2, 1) = 1;

diff --git a/python/.clang-format b/python/.clang-format
@@ -1,3 +1,3 @@
 DisableFormat: true
-SortIncludes: Never
+SortIncludes: false
 
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -31,6 +31,9 @@ target_link_libraries(pymrpt PUBLIC
   mrpt::gui
   mrpt::nav
 )
+
+target_include_directories(pymrpt PRIVATE ".")
+
 target_compile_definitions(pymrpt PRIVATE 
   PYBIND11_MAJOR_VERSION=${PYBIND11_MAJOR_VERSION}
   PYBIND11_MINOR_VERSION=${PYBIND11_MINOR_VERSION}

diff --git a/python/all_wrapped_mrpt_headers.hpp b/python/all_wrapped_mrpt_headers.hpp
@@ -414,7 +414,6 @@
 #include <mrpt/slam/CRangeBearingKFSLAM.h>
 #include <mrpt/slam/CRangeBearingKFSLAM2D.h>
 #include <mrpt/slam/CRejectionSamplingRangeOnlyLocalization.h>
-#include <mrpt/slam/PF_aux_structs.h>
 #include <mrpt/slam/PF_implementations.h>
 #include <mrpt/slam/PF_implementations_data.h>
 #include <mrpt/slam/TKLDParams.h>

diff --git a/python/patch-001.diff b/python/patch-001.diff
diff --git a/python/patch-002.diff b/python/patch-002.diff
diff --git a/python/patch-004.diff b/python/patch-004.diff
diff --git a/python/patch-005.diff b/python/patch-005.diff
diff --git a/python/patch-006.diff b/python/patch-006.diff
@@ -0,0 +1,10 @@
+--- generated-sources-pybind/mrpt/serialization/CArchive_1.cpp	2023-04-27 23:31:05.248357920 +0200
++++ generated-sources-pybind/mrpt/serialization/CArchive_1.new.cpp	2023-04-27 23:38:49.302474957 +0200
+@@ -15,6 +15,7 @@
+ #include <string>
+ #include <pybind11/stl.h>
+
++#include <mrpt/serialization/CMessage.h>
+
+ #ifndef BINDER_PYBIND11_TYPE_CASTER
+ 	#define BINDER_PYBIND11_TYPE_CASTER