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add interface in C++, and helper extractRot2Measurements()

release/4.3a0
John Lambert 2021-07-09 17:38:10 -04:00 committed by GitHub
parent 15478bf278
commit 3c1823349b
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1 changed files with 14 additions and 0 deletions
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14
gtsam/sfm/ShonanAveraging.cpp
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@ -944,6 +944,20 @@ ShonanAveraging2::ShonanAveraging2(string g2oFile, const Parameters &parameters)
parameters.getUseHuber()), parameters.getUseHuber()),
parameters) {} parameters) {}
static ShonanAveraging2::Measurements extractRot2Measurements(
const BetweenFactorPose2s &factors) {
ShonanAveraging2::Measurements result;
result.reserve(factors.size());
for (auto f : factors) result.push_back(convert(f));
return result;
}
ShonanAveraging2::ShonanAveraging2(const BetweenFactorPose2s &factors,
const Parameters &parameters)
: ShonanAveraging<3>(maybeRobust(extractRot2Measurements(factors),
parameters.getUseHuber()),
parameters) {}
/* ************************************************************************* */ /* ************************************************************************* */
// Explicit instantiation for d=3 // Explicit instantiation for d=3
template class ShonanAveraging<3>; template class ShonanAveraging<3>;