Fix registration of types in g2opy

The base class type was missing after using the fixed sized edge as base class for some types.
RainerKuemmerle · Mar 13, 2024 · 06c57fe · 06c57fe
1 parent 9d5bd81
commit 06c57fe
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/python/types/slam2d/py_edge_se2.h b/python/types/slam2d/py_edge_se2.h
@@ -67,10 +67,13 @@ inline void declareEdgeSE2(py::module& m) {
       .def("initial_estimate_possible", &EdgeSE2Prior::initialEstimatePossible)
       .def("initial_estimate", &EdgeSE2Prior::initialEstimate);
 
+  templatedBaseFixedSizedEdge<4, Vector4, VertexSE2, VertexPointXY,
+                              VertexPointXY>(
+      m, "_4_Vector4_VertexSE2_VertexPointXY_VertexPointXY");
   py::class_<
       EdgeSE2TwoPointsXY,
-      BaseFixedSizedEdge<4, Vector4, VertexSE2, VertexPointXY, VertexPointXY>>(
-      m, "EdgeSE2TwoPointsXY")
+      BaseFixedSizedEdge<4, Vector4, VertexSE2, VertexPointXY, VertexPointXY>,
+      std::shared_ptr<EdgeSE2TwoPointsXY>>(m, "EdgeSE2TwoPointsXY")
       .def(py::init<>())
       .def("compute_error", &EdgeSE2TwoPointsXY::computeError)
       .def("set_measurement_from_state",

diff --git a/python/types/slam2d/py_edge_se2_pointxy.h b/python/types/slam2d/py_edge_se2_pointxy.h
@@ -54,7 +54,8 @@ inline void declareEdgeSE2PointXY(py::module& m) {
   // class G2O_TYPES_SLAM2D_API EdgeSE2PointXYBearingWriteGnuplotAction: public
   // WriteGnuplotAction class G2O_TYPES_SLAM2D_API
   // EdgeSE2PointXYBearingDrawAction: public DrawAction
-
+  templatedBaseFixedSizedEdge<2, Vector2, VertexSE2, VertexPointXY, VertexSE2>(
+      m, "_2_Vector2_VertexSE2_VertexPointXY_VertexSE2");
   py::class_<
       EdgeSE2PointXYCalib,
       BaseFixedSizedEdge<2, Vector2, VertexSE2, VertexPointXY, VertexSE2>,