From 0a2deab5b6380e4c24d2e692775545e844e1be0e Mon Sep 17 00:00:00 2001
From: John Lambert <johnwl@stanford.edu>
Date: Wed, 24 Feb 2021 17:39:16 -0500
Subject: [PATCH] move sim3 to stable version

---
 .../geometry/Similarity3.cpp                  |  2 +-
 .../geometry/Similarity3.h                    |  0
 gtsam/gtsam.i                                 | 23 +++++++++++++++++++
 gtsam_unstable/gtsam_unstable.i               | 19 ---------------
 4 files changed, 24 insertions(+), 20 deletions(-)
 rename {gtsam_unstable => gtsam}/geometry/Similarity3.cpp (99%)
 rename {gtsam_unstable => gtsam}/geometry/Similarity3.h (100%)

diff --git a/gtsam_unstable/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
similarity index 99%
rename from gtsam_unstable/geometry/Similarity3.cpp
rename to gtsam/geometry/Similarity3.cpp
index 7252095a4..5cb1466b4 100644
--- a/gtsam_unstable/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -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>
diff --git a/gtsam_unstable/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
similarity index 100%
rename from gtsam_unstable/geometry/Similarity3.h
rename to gtsam/geometry/Similarity3.h
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index 22c2cc17d..b6b3ecac4 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -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
diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index 1ca73bbe6..8c9345147 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -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 {