Exposed and modified part of mono VO pipeline for RANSAC

.gitignore

@@ -3,3 +3,4 @@ viso2_wrap.cpp
 *.so
 *.pyc
 src/build*
+.vscode

src/setup.py

@@ -12,9 +12,9 @@
       version="0.1.0",
       py_modules=["viso2"],
       ext_modules=[Extension("_viso2",
-                             sources=["filter.cpp","matcher.cpp","matrix.cpp","reconstruction.cpp",
-                                      "triangle.cpp","viso.cpp","viso_stereo.cpp", "viso2.i"],
+                             sources=["filter.cpp", "matcher.cpp", "matrix.cpp", "reconstruction.cpp",
+                                      "triangle.cpp", "viso.cpp", "viso_mono.cpp", "viso_stereo.cpp", "viso2.i"],
                              language="c++",
-                             swig_opts=['-c++','-threads'],
+                             swig_opts=['-c++', '-threads'],
                              extra_compile_args=['-msse3'],
                              include_dirs=[numpy.get_include()])])

src/viso2.i

@@ -2,6 +2,7 @@
 
 %{
 #define SWIG_FILE_WITH_INIT
+#include "viso_mono.h"
 #include "viso_stereo.h"
 #include "reconstruction.h"
 %}
@@ -22,6 +23,7 @@
 // rename the crazy nested class parameter scheme
 %rename (VO_parameters) VisualOdometry::parameters;
 %rename (Matcher_parameters) Matcher::parameters;
+%rename (Mono_parameters) VisualOdometryMono::parameters;
 %rename (Stereo_parameters) VisualOdometryStereo::parameters;
 
 %rename (p_match) Matcher::p_match;
@@ -45,6 +47,7 @@ typedef int int32_t;
 
 // what interfaces to SWIG?
 %include "viso.h"
+%include "viso_mono.h"
 %include "viso_stereo.h"
 %include "matrix.h"
 %include "matcher.h"
@@ -57,6 +60,19 @@ namespace std {
  }
 
 // apply the numpy typemap to enable a more comforable call with 2D images
+%extend VisualOdometryMono {
+  bool process_frame(unsigned char* image1, int rows1, int cols1, bool replace=false)
+  {
+    int dims[] = {cols1, rows1, cols1};
+    return $self->process(image1, dims, replace);
+  }
+  bool process_frame(unsigned char* image1, int rows1, int cols1, unsigned char* image2, int rows2, int cols2, bool replace=false)
+  {
+    int dims[] = {cols1, rows1, cols1};
+    return $self->process(image1, image2, dims, replace);
+  }
+}
+
 %extend VisualOdometryStereo {
   bool process_frame(unsigned char* image1, int rows1, int cols1, unsigned char* image2, int rows2, int cols2, bool replace=false)
   {

src/viso2.py

@@ -352,6 +352,101 @@ def __init__(self):
 VO_parameters_swigregister = _viso2.VO_parameters_swigregister
 VO_parameters_swigregister(VO_parameters)
 
+class VisualOdometryMono(VisualOdometry):
+    """Proxy of C++ VisualOdometryMono class."""
+
+    __swig_setmethods__ = {}
+    for _s in [VisualOdometry]:
+        __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {}))
+    __setattr__ = lambda self, name, value: _swig_setattr(self, VisualOdometryMono, name, value)
+    __swig_getmethods__ = {}
+    for _s in [VisualOdometry]:
+        __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {}))
+    __getattr__ = lambda self, name: _swig_getattr(self, VisualOdometryMono, name)
+    __repr__ = _swig_repr
+
+    def __init__(self, param):
+        """__init__(self, param) -> VisualOdometryMono"""
+        this = _viso2.new_VisualOdometryMono(param)
+        try:
+            self.this.append(this)
+        except __builtin__.Exception:
+            self.this = this
+    __swig_destroy__ = _viso2.delete_VisualOdometryMono
+    __del__ = lambda self: None
+
+    def process(self, *args):
+        """
+        process(self, I, dims, replace=False) -> bool
+        process(self, I, dims) -> bool
+        process(self, I1, I2, dims, replace=False) -> bool
+        process(self, I1, I2, dims) -> bool
+        """
+        return _viso2.VisualOdometryMono_process(self, *args)
+
+
+    def getInlierMatches(self):
+        """getInlierMatches(self) -> MatchVector"""
+        return _viso2.VisualOdometryMono_getInlierMatches(self)
+
+
+    def process_frame(self, *args):
+        """
+        process_frame(self, image1, replace=False) -> bool
+        process_frame(self, image1) -> bool
+        process_frame(self, image1, image2, replace=False) -> bool
+        process_frame(self, image1, image2) -> bool
+        """
+        return _viso2.VisualOdometryMono_process_frame(self, *args)
+
+VisualOdometryMono_swigregister = _viso2.VisualOdometryMono_swigregister
+VisualOdometryMono_swigregister(VisualOdometryMono)
+
+class Mono_parameters(VO_parameters):
+    """Proxy of C++ VisualOdometryMono::parameters class."""
+
+    __swig_setmethods__ = {}
+    for _s in [VO_parameters]:
+        __swig_setmethods__.update(getattr(_s, '__swig_setmethods__', {}))
+    __setattr__ = lambda self, name, value: _swig_setattr(self, Mono_parameters, name, value)
+    __swig_getmethods__ = {}
+    for _s in [VO_parameters]:
+        __swig_getmethods__.update(getattr(_s, '__swig_getmethods__', {}))
+    __getattr__ = lambda self, name: _swig_getattr(self, Mono_parameters, name)
+    __repr__ = _swig_repr
+    __swig_setmethods__["height"] = _viso2.Mono_parameters_height_set
+    __swig_getmethods__["height"] = _viso2.Mono_parameters_height_get
+    if _newclass:
+        height = _swig_property(_viso2.Mono_parameters_height_get, _viso2.Mono_parameters_height_set)
+    __swig_setmethods__["pitch"] = _viso2.Mono_parameters_pitch_set
+    __swig_getmethods__["pitch"] = _viso2.Mono_parameters_pitch_get
+    if _newclass:
+        pitch = _swig_property(_viso2.Mono_parameters_pitch_get, _viso2.Mono_parameters_pitch_set)
+    __swig_setmethods__["ransac_iters"] = _viso2.Mono_parameters_ransac_iters_set
+    __swig_getmethods__["ransac_iters"] = _viso2.Mono_parameters_ransac_iters_get
+    if _newclass:
+        ransac_iters = _swig_property(_viso2.Mono_parameters_ransac_iters_get, _viso2.Mono_parameters_ransac_iters_set)
+    __swig_setmethods__["inlier_threshold"] = _viso2.Mono_parameters_inlier_threshold_set
+    __swig_getmethods__["inlier_threshold"] = _viso2.Mono_parameters_inlier_threshold_get
+    if _newclass:
+        inlier_threshold = _swig_property(_viso2.Mono_parameters_inlier_threshold_get, _viso2.Mono_parameters_inlier_threshold_set)
+    __swig_setmethods__["motion_threshold"] = _viso2.Mono_parameters_motion_threshold_set
+    __swig_getmethods__["motion_threshold"] = _viso2.Mono_parameters_motion_threshold_get
+    if _newclass:
+        motion_threshold = _swig_property(_viso2.Mono_parameters_motion_threshold_get, _viso2.Mono_parameters_motion_threshold_set)
+
+    def __init__(self):
+        """__init__(self) -> Mono_parameters"""
+        this = _viso2.new_Mono_parameters()
+        try:
+            self.this.append(this)
+        except __builtin__.Exception:
+            self.this = this
+    __swig_destroy__ = _viso2.delete_Mono_parameters
+    __del__ = lambda self: None
+Mono_parameters_swigregister = _viso2.Mono_parameters_swigregister
+Mono_parameters_swigregister(Mono_parameters)
+
 class VisualOdometryStereo(VisualOdometry):
     """Proxy of C++ VisualOdometryStereo class."""