move sim3 to stable version

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>

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

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 {