1 """Module definition file for GTSAM"""
9 from gtsam
import gtsam, utils
17 IndexPairSetMap = dict
18 IndexPairVector = list
28 BinaryMeasurementsPoint3 = list
29 BinaryMeasurementsUnit3 = list
30 BinaryMeasurementsRot3 = list
31 KeyPairDoubleMap = dict
32 SfmTrack2dVector = list
35 SfmMeasurementVector = list
36 MatchIndicesMap = dict
37 KeypointsVector = list
39 BetweenFactorPose3s = list
40 BetweenFactorPose2s = list
44 """Class to provide backwards compatibility"""
46 self[key_value[0]] = key_value[1]
53 """This function is to add shims for the long-gone Point2 and Point3 types"""
59 def Point2(x=np.nan, y=np.nan):
60 """Shim for the deleted Point2 type."""
62 assert x.shape == (2, ),
"Point2 takes 2-vector"
64 return np.array([x, y], dtype=float)
68 def Point3(x=np.nan, y=np.nan, z=np.nan):
69 """Shim for the deleted Point3 type."""
71 assert x.shape == (3, ),
"Point3 takes 3-vector"
73 return np.array([x, y, z], dtype=float)
76 if __name__ ==
"__main__":