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Merge pull request #644 from borglab/fix/cal3bundler 

Wrapping prior factor and general sfm factor or Cal3Bundler
release/4.3a0
Varun Agrawal 2020-12-29 01:10:11 -05:00 committed by GitHub
parent 064996af86 c7c0c77a12
commit 11b155aa65
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 2 additions and 2 deletions
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gtsam/gtsam.i
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@ -2520,7 +2520,7 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h> #include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h> #include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}> template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor { virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const; T prior() const;
@ -2666,7 +2666,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> Gene
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
template<CALIBRATION = {gtsam::Cal3_S2}> template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
gtsam::Point2 measured() const; gtsam::Point2 measured() const;