#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function # Python 3 compatibility
try: # first, try to load the "test_ext" module if it already exists, otherwise build it
import test_ext
except ImportError:
from setup import main as setup_main
setup_main() # run "setup.py" to compile the "test_ext" module
import test_ext # retry import
import numpy as np
def main():
# Setup arguments
a = 1.0
b = 3.0
buf = np.array([[0, -1], # note that we provide a bigger matrix: 4x2 instead of 3x2,
[0, +1], # so only the first 3x2 matrix should be altered by func1()
[-1, 0],
[+1, 0]], dtype=np.int32)
print ("a:", a)
print ("b:", b)
print ("buf:")
print (buf)
print ()
# Run the functions defined in "test.c"
print ("Running func2()")
def setup_shortcut():
from setup import setup_main
setup_main()
try: # first, try to load the "gtsam_ext" module if it already exists, ...
from gtsam_ext import *
except ImportError: # ... otherwise build it
from setup import main as setup_main
setup_main() # run "setup.py" to compile the "gtsam_ext" module
from gtsam_ext import * # retry import
loaded = True
try: # first, try to load the "triangulation_ext" module if it already exists, ...
import triangulation_ext
except ImportError: # ... otherwise build it
from setup import main as setup_main
try:
setup_main(
) # run "setup.py" to compile the "triangulation_ext" module
import triangulation_ext # retry import
except:
loaded = False
import numpy as np
from triangulation_ext import linear_LS_triangulation as linear_LS_triangulation_c
def linear_LS_triangulation(u1, P1, u2, P2):
"""
Linear Least Squares based triangulation.
Relative speed: 3.0
(u1, P1) is the reference pair containing normalized image coordinates (x, y) and the corresponding camera matrix.
(u2, P2) is the second pair.
u1 and u2 are matrices: amount of points equals #rows and should be equal for u1 and u2.
The status-vector will be True for all points.
"""
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from __future__ import print_function # Python 3 compatibility
try: # first, try to load the "test_ext" module if it already exists, otherwise build it
import test_ext
except ImportError:
from setup import main as setup_main
setup_main() # run "setup.py" to compile the "test_ext" module
import test_ext # retry import
import numpy as np
def main():
# Setup arguments
a = 1.0
b = 3.0
buf = np.array(
[
[0, -1
], # note that we provide a bigger matrix: 4x2 instead of 3x2,
[0, +1
], # so only the first 3x2 matrix should be altered by func1()
[-1, 0],
[+1, 0]
],
dtype=np.int32)
print("a:", a)
print("b:", b)
print("buf:")
loaded = True
try: # first, try to load the "triangulation_ext" module if it already exists, ...
import triangulation_ext
except ImportError: # ... otherwise build it
from setup import main as setup_main
try:
setup_main() # run "setup.py" to compile the "triangulation_ext" module
import triangulation_ext # retry import
except:
loaded = False
import numpy as np
from triangulation_ext import linear_LS_triangulation as linear_LS_triangulation_c
def linear_LS_triangulation(u1, P1, u2, P2):
"""
Linear Least Squares based triangulation.
Relative speed: 3.0
(u1, P1) is the reference pair containing normalized image coordinates (x, y) and the corresponding camera matrix.
(u2, P2) is the second pair.
u1 and u2 are matrices: amount of points equals #rows and should be equal for u1 and u2.
The status-vector will be True for all points.
"""
# Cast to double if needed
try: # first, try to load the "gtsam_ext" module if it already exists, ...
from gtsam_ext import *
except ImportError: # ... otherwise build it
from setup import main as setup_main
setup_main() # run "setup.py" to compile the "gtsam_ext" module
from gtsam_ext import * # retry import
