move sim3 to stable version

release/4.3a0
John Lambert 2021-02-24 17:39:16 -05:00
parent bbd7ed4f69
commit 0a2deab5b6
4 changed files with 24 additions and 20 deletions

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@ -15,7 +15,7 @@
* @author Paul Drews
*/
#include <gtsam_unstable/geometry/Similarity3.h>
#include <gtsam/geometry/Similarity3.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Manifold.h>

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@ -1058,6 +1058,29 @@ class PinholeCamera {
void serialize() const;
};
#include <gtsam/geometry/Similarity3.h>
class PointPairs
{
PointPairs();
size_t size() const;
bool empty() const;
gtsam::Point3Pair at(size_t n) const;
void push_back(const gtsam::Point3Pair& point_pair);
};
class Similarity3 {
Similarity3();
Similarity3(double s);
Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s);
Similarity3(const Matrix& R, const Vector& t, double s);
Similarity3(const Matrix& T);
static Similarity3 Align(const gtsam::PointPairs & abPointPairs);
};
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h>
// Some typedefs for common camera types

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@ -163,25 +163,6 @@ class BearingS2 {
void serializable() const; // enabling serialization functionality
};
#include <gtsam_unstable/geometry/Similarity3.h>
class PointPairs
{
PointPairs();
size_t size() const;
bool empty() const;
gtsam::Point3Pair at(size_t n) const;
void push_back(const gtsam::Point3Pair& point_pair);
};
class Similarity3 {
Similarity3();
Similarity3(double s);
Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s);
Similarity3(const Matrix& R, const Vector& t, double s);
Similarity3(const Matrix& T);
static Similarity3 Align(const gtsam::PointPairs & abPointPairs);
};
#include <gtsam_unstable/geometry/SimWall2D.h>
class SimWall2D {