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export Similarity3 specalized BetweenFactor to python

release/4.3a0
Ashwin Gupta 2024-03-01 16:22:43 -08:00
parent 9d70605d48
commit 8f17b5cfbb
2 changed files with 14 additions and 1 deletions
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12
gtsam/geometry/Similarity3.h
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@ -202,6 +202,18 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
/// @{ /// @{
private: private:
#ifdef GTSAM_ENABLE_BOOST_SERIALIZATION
/** Serialization function */
friend class boost::serialization::access;
template<class Archive>
void serialize(Archive & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(R_);
ar & BOOST_SERIALIZATION_NVP(t_);
ar & BOOST_SERIALIZATION_NVP(s_);
}
#endif
/// Calculate expmap and logmap coefficients. /// Calculate expmap and logmap coefficients.
static Matrix3 GetV(Vector3 w, double lambda); static Matrix3 GetV(Vector3 w, double lambda);

3
gtsam/slam/slam.i
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@ -7,12 +7,13 @@ namespace gtsam {
#include <gtsam/geometry/Cal3DS2.h> #include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/SO4.h> #include <gtsam/geometry/SO4.h>
#include <gtsam/navigation/ImuBias.h> #include <gtsam/navigation/ImuBias.h>
#include <gtsam/geometry/Similarity3.h>
// ###### // ######
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
template <T = {double, Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, template <T = {double, Vector, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::SO3,
gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Similarity3,
gtsam::imuBias::ConstantBias}> gtsam::imuBias::ConstantBias}>
virtual class BetweenFactor : gtsam::NoiseModelFactor { virtual class BetweenFactor : gtsam::NoiseModelFactor {
BetweenFactor(size_t key1, size_t key2, const T& relativePose, BetweenFactor(size_t key1, size_t key2, const T& relativePose,