From 0877b17a5de8dd58a37d1e9edc0e2ea4e8313163 Mon Sep 17 00:00:00 2001
From: rakeshs <rakesh_shrestha@sfu.ca>
Date: Wed, 20 Mar 2019 17:23:20 -0700
Subject: [PATCH 1/4] expose the raw data (quaternion) of SO3

---
 sophus.pyx      | 6 +++++-
 sophus_defs.pxd | 1 +
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/sophus.pyx b/sophus.pyx
index 2faed62..983c37e 100644
--- a/sophus.pyx
+++ b/sophus.pyx
@@ -41,7 +41,11 @@ cdef class SO3:
 
     def log(self):
         return ndarray(self.thisptr.log())
-
+    
+    def data(self):
+        ptr = self.thisptr.data()
+        return (ptr[0], ptr[1], ptr[2], ptr[3])
+        
     def inverse(self):
         res = SO3()
         res.thisptr = new _SO3d(self.thisptr.inverse()) 
diff --git a/sophus_defs.pxd b/sophus_defs.pxd
index 540be98..f98056d 100644
--- a/sophus_defs.pxd
+++ b/sophus_defs.pxd
@@ -13,6 +13,7 @@ cdef extern from "<sophus/so3.hpp>" namespace "Sophus":
       Matrix3d& matrix()
 
       Vector3d log()
+      Scalar* data()
 
       SO3 inverse()
       void normalize()

From a141fdb1c15801cb210339a4d69c96cdbe44c34b Mon Sep 17 00:00:00 2001
From: rakeshshrestha31 <rakeshsh31@gmail.com>
Date: Fri, 22 Mar 2019 13:47:36 -0700
Subject: [PATCH 2/4] update README: instructions for cython, install instead
 of build_ext for install to dist-packages

---
 README.md | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/README.md b/README.md
index a469633..94ffcbd 100644
--- a/README.md
+++ b/README.md
@@ -35,13 +35,18 @@ If you require any functionality that is not currently in the wrapper, feel free
 
 How to install
 --------------
+Install `cython` if you don't have already
 
-First, setup `eigency`
+```
+pip install cython
+```
+
+Then, setup `eigency`
 
 ```
 git clone https://github.com/wouterboomsma/eigency.git
 cd eigency
-python setup.py build_ext --inplace
+python setup.py
 # put in your bashrc
 export PYTHONPATH="$PYTHONPATH:<path to eigency>"
 ```
@@ -56,6 +61,8 @@ git submodule update
 python setup.py build_ext --inplace
 # put in your bashrc
 export PYTHONPATH="$PYTHONPATH:<path to PySophus>"
+# alternately, install it to your default dist-packages
+python setup.py install
 ```
 
 Usage

From 87f362a4f255b64a6a1141227b775fb8f932aad5 Mon Sep 17 00:00:00 2001
From: rakeshshrestha31 <rakeshsh31@gmail.com>
Date: Fri, 22 Mar 2019 15:00:29 -0700
Subject: [PATCH 3/4] set_data method for SO3 to set rotation as quaternion
 directly

---
 sophus.pyx      | 11 ++++++++++-
 sophus_defs.pxd |  2 --
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/sophus.pyx b/sophus.pyx
index 983c37e..8c4873b 100644
--- a/sophus.pyx
+++ b/sophus.pyx
@@ -45,7 +45,16 @@ cdef class SO3:
     def data(self):
         ptr = self.thisptr.data()
         return (ptr[0], ptr[1], ptr[2], ptr[3])
-        
+    
+    def setData(self, np.ndarray data):
+        data = data.reshape((4,))
+        ptr = self.thisptr.data()
+        ptr[0] = data[0]
+        ptr[1] = data[1]
+        ptr[2] = data[2]
+        ptr[3] = data[3]
+        self.normalize()
+
     def inverse(self):
         res = SO3()
         res.thisptr = new _SO3d(self.thisptr.inverse()) 
diff --git a/sophus_defs.pxd b/sophus_defs.pxd
index f98056d..8f00e22 100644
--- a/sophus_defs.pxd
+++ b/sophus_defs.pxd
@@ -1,8 +1,6 @@
 # -*- coding: utf-8 -*-
 from eigency.core cimport *
 
-
-
 cdef extern from "<sophus/so3.hpp>" namespace "Sophus":
   cdef cppclass SO3[Scalar]:
       SO3() except +

From 7844ec64266d6aa593110009a763c4e056409e74 Mon Sep 17 00:00:00 2001
From: rakeshshrestha31 <rakeshsh31@gmail.com>
Date: Fri, 22 Mar 2019 15:39:53 -0700
Subject: [PATCH 4/4] setQuaternion method for SE3 and data method returning
 numpy array instead of tuple

---
 sophus.pyx | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/sophus.pyx b/sophus.pyx
index 8c4873b..045763b 100644
--- a/sophus.pyx
+++ b/sophus.pyx
@@ -44,7 +44,7 @@ cdef class SO3:
     
     def data(self):
         ptr = self.thisptr.data()
-        return (ptr[0], ptr[1], ptr[2], ptr[3])
+        return numpy.array((ptr[0], ptr[1], ptr[2], ptr[3]))
     
     def setData(self, np.ndarray data):
         data = data.reshape((4,))
@@ -152,7 +152,7 @@ cdef class SE3:
         Returns the SO3 part (rotation)
         """
         return SO3(ndarray(self.thisptr.so3().matrix())) 
-
+    
     def log(self):
         return ndarray(self.thisptr.log())
 
@@ -170,6 +170,14 @@ cdef class SE3:
     def setRotationMatrix(self, np.ndarray matrix):
         self.thisptr.setRotationMatrix(Map[Matrix3d](matrix))
 
+    def setQuaternion(self, np.ndarray quaternion):
+        quaternion = quaternion.reshape((4,))
+        ptr = self.thisptr.so3().data()
+        ptr[0] = quaternion[0]
+        ptr[1] = quaternion[1]
+        ptr[2] = quaternion[2]
+        ptr[3] = quaternion[3]
+
     def __mul__(SE3 x, SE3 y):
         """
         Group multiplication operator