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wrap SfM_data struct

release/4.3a0
Varun Agrawal 2020-02-21 18:36:50 -05:00
parent 6ab77600cc
commit 381f7bee30
1 changed files with 5 additions and 0 deletions
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gtsam.h
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@ -2724,6 +2724,11 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
}; };
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
class SfM_data {
size_t number_cameras() const;
size_t number_tracks() const;
};
string findExampleDataFile(string name); string findExampleDataFile(string name);
pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename, pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart); gtsam::noiseModel::Diagonal* model, int maxID, bool addNoise, bool smart);