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Wrap TriangulationResult

release/4.3a0
Frank Dellaert 2022-05-10 22:57:38 -04:00
parent b5e9dc04fd
commit 58cbdcddd5
1 changed files with 5 additions and 0 deletions
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5
gtsam/geometry/geometry.i
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@ -1089,6 +1089,11 @@ class StereoCamera {
#include <gtsam/geometry/triangulation.h>
virtual class TriangulationResult : boost::optional<gtsam::Point3> {
enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
Status status;
};
// Templates appear not yet supported for free functions - issue raised at
// borglab/wrap#14 to add support
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,