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Merge pull request #791 from borglab/add-sim3-point-transformFrom 

Add transformFrom() to wrapper, for Point3 in Similarity3
release/4.3a0
John Lambert 2021-06-10 18:57:24 -04:00 committed by GitHub
parent f77af1229a 658ebd3864
commit 19d3fe04de
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@ -1063,7 +1063,9 @@ class Similarity3 {
Similarity3(const Matrix& R, const Vector& t, double s); Similarity3(const Matrix& R, const Vector& t, double s);
Similarity3(const Matrix& T); Similarity3(const Matrix& T);
gtsam::Point3 transformFrom(const gtsam::Point3& p) const;
gtsam::Pose3 transformFrom(const gtsam::Pose3& T); gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs); static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);