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Merge pull request #828 from borglab/feature/wrap-triangulate-nonlinear 

Wrapping triangulateNonlinear from triangulation.h
release/4.3a0
Akshay Krishnan 2021-07-25 11:33:33 -07:00 committed by GitHub
parent 5bb69f7223 d4951f025d
commit 158d279d59
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1 changed files with 18 additions and 0 deletions
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18
gtsam/geometry/geometry.i
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@ -982,6 +982,24 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
#include <gtsam/geometry/BearingRange.h>
template <POSE, POINT, BEARING, RANGE>