fixing python bindings for FGraphDiff

prime-slam · May 29, 2024 · 4c00262 · 4c00262
1 parent 08e6d91
commit 4c00262
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/python_examples/FGraphDiff_2d.py b/python_examples/FGraphDiff_2d.py
@@ -15,7 +15,8 @@
 graph.add_factor_1pose_2d(np.array([0,0,np.pi/4]),n1,1e6*invCov)
 graph.add_factor_2poses_2d(np.ones(3),n1,n2,invCov)
 
-graph.solve(mrob.LM)
-graph.print(True)
+for i in range(10):
+    graph.solve(mrob.FGraphDiff_GN)
+    graph.print(True)
 
 
diff --git a/src/pybind/FGraphDiffPy.cpp b/src/pybind/FGraphDiffPy.cpp
@@ -96,12 +96,12 @@ class FGraphDiffPy : public FGraphDiffSolve
 
 void init_FGraphDiff(py::module &m)
 {
-//     py::enum_<FGraphDiffSolve::optimMethod>(m, "FGraphDiff.optimMethod")
-//         .value("GN", FGraphDiffSolve::optimMethod::GN)
-//         .value("LM", FGraphDiffSolve::optimMethod::LM)
-//         .value("LM_ELLIPS", FGraphDiffSolve::optimMethod::LM_ELLIPS)
-//         .export_values()
-//         ;
+    py::enum_<FGraphDiffSolve::optimMethod>(m, "FGraphDiff.optimMethod")
+        .value("FGraphDiff_GN", FGraphDiffSolve::optimMethod::GN)
+        .value("FGraphDiff_LM", FGraphDiffSolve::optimMethod::LM)
+        .value("FGraphDiff_LM_ELLIPS", FGraphDiffSolve::optimMethod::LM_ELLIPS)
+        .export_values()
+        ;
 //     py::enum_<DiffFactor::robustFactorType>(m, "FGraphDiff.robustFactorType")
 //         .value("QUADRATIC", DiffFactor::robustFactorType::QUADRATIC)
 //         .value("CAUCHY", DiffFactor::robustFactorType::CAUCHY)