From 894605be3f5ff7365c3f3a5330bdb25b509a05ff Mon Sep 17 00:00:00 2001
From: yotams <yotams@mobileye.com>
Date: Tue, 5 Apr 2022 08:51:03 +0300
Subject: [PATCH] added wrapper for ProjectionFactorRollingShutter

---
 gtsam_unstable/gtsam_unstable.i | 26 ++++++++++++++++++++++++++
 python/README.md                |  1 +
 2 files changed, 27 insertions(+)

diff --git a/gtsam_unstable/gtsam_unstable.i b/gtsam_unstable/gtsam_unstable.i
index dd66e7a73..08cd45e18 100644
--- a/gtsam_unstable/gtsam_unstable.i
+++ b/gtsam_unstable/gtsam_unstable.i
@@ -797,4 +797,30 @@ virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
 typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
 
+#include <gtsam_unstable/slam/ProjectionFactorRollingShutter.h>
+virtual class ProjectionFactorRollingShutter : gtsam::NoiseModelFactor {
+  ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
+      size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K);
+
+  ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
+    size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, gtsam::Pose3& body_P_sensor);
+
+  ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
+        size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, bool throwCheirality,
+        bool verboseCheirality);
+
+  ProjectionFactorRollingShutter(const gtsam::Point2& measured, double alpha, const gtsam::noiseModel::Base* noiseModel,
+      size_t poseKey_a, size_t poseKey_b, size_t pointKey, const gtsam::Cal3_S2* K, bool throwCheirality,
+      bool verboseCheirality, gtsam::Pose3& body_P_sensor);
+
+  gtsam::Point2 measured() const;
+  double alpha() const;
+  gtsam::Cal3_S2* calibration() const;
+  bool verboseCheirality() const;
+  bool throwCheirality() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
 } //\namespace gtsam
diff --git a/python/README.md b/python/README.md
index 54436df93..278d62094 100644
--- a/python/README.md
+++ b/python/README.md
@@ -8,6 +8,7 @@ For instructions on updating the version of the [wrap library](https://github.co
 
 ## Requirements
 
+- Cmake >= 3.15
 - If you want to build the GTSAM python library for a specific python version (eg 3.6),
   use the `-DGTSAM_PYTHON_VERSION=3.6` option when running `cmake` otherwise the default interpreter will be used.
 - If the interpreter is inside an environment (such as an anaconda environment or virtualenv environment),