SmartProjectionPose3Factor in Python API about gtsam HOT 6 CLOSED

Hi, thank you for the bug report! This can be added fairly easily, by adding one line in the .i file

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Hi, thank you for the bug report! This can be added fairly easily, by adding one line in the .i file

Thanks for the response! I'll preface the following by saying I do not have much experience with pybind11...

TL;DR: It looks like I would add something like so (at line 156): TriangulationResult point() const; Does this look right or were you thinking of something else? I plan on testing this out once I'm back at my computer later today.

Longer version is (writing this out for my own understanding and maybe help some others - please correct if I misunderstand though):

It appears the slam.i file is the one I'd be interested in, and I would want to add a member function to the virtual class SmartProjectionPoseFactor class.

However, reviewing the API documentation again, I noticed the exact return of point() is actually a more complex class TriangulationResult. TriangulationResult is already defined in geometry.i (and I can confirm I am able to see it available in the Python API), I can see that #include <gtsam/geometry/triangulation.h> is present in SmartProjectionFactor.h, which is already imported into slam.i.

Will give it a try and report back.

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Following up to say this worked! I have a slightly older version of the develop branch so I hesitate to link it here, but following the method I wrote up in my previous message worked to give me access to the point() method. Will try to work this into a PR when I can.

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@Dead-Hand glad to see you figured it out. I made a PR to fix this issue (sorry for the delay).

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Also wanted to mention that your analysis and understanding was exactly on point! If you see my PR, you'll notice I made the exact same change. If you have other methods you'd like to wrap, we welcome a PR for that.

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Confirmed that #1654 fixed this. Closing my issue. Thanks!

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