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Merge pull request #719 from borglab/fix/sim3 

Fix the Similarity3 export declarations and wrapper
release/4.3a0
Varun Agrawal 2021-03-17 22:56:56 -04:00 committed by GitHub
parent 436c8fa436 4bf353031f
commit 9e3813a4c0
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2 changed files with 26 additions and 26 deletions
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48
gtsam/geometry/Similarity3.h
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@ -23,7 +23,7 @@
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Lie.h> #include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h> #include <gtsam/base/Manifold.h>
#include <gtsam_unstable/dllexport.h> #include <gtsam/dllexport.h>
namespace gtsam { namespace gtsam {
@ -53,54 +53,54 @@ public:
/// @{ /// @{
/// Default constructor /// Default constructor
GTSAM_UNSTABLE_EXPORT Similarity3(); GTSAM_EXPORT Similarity3();
/// Construct pure scaling /// Construct pure scaling
GTSAM_UNSTABLE_EXPORT Similarity3(double s); GTSAM_EXPORT Similarity3(double s);
/// Construct from GTSAM types /// Construct from GTSAM types
GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s); GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
/// Construct from Eigen types /// Construct from Eigen types
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s); GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
/// Construct from matrix [R t; 0 s^-1] /// Construct from matrix [R t; 0 s^-1]
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T); GTSAM_EXPORT Similarity3(const Matrix4& T);
/// @} /// @}
/// @name Testable /// @name Testable
/// @{ /// @{
/// Compare with tolerance /// Compare with tolerance
GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const; GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const;
/// Exact equality /// Exact equality
GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const; GTSAM_EXPORT bool operator==(const Similarity3& other) const;
/// Print with optional string /// Print with optional string
GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const; GTSAM_EXPORT void print(const std::string& s) const;
GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p); GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
/// @} /// @}
/// @name Group /// @name Group
/// @{ /// @{
/// Return an identity transform /// Return an identity transform
GTSAM_UNSTABLE_EXPORT static Similarity3 identity(); GTSAM_EXPORT static Similarity3 identity();
/// Composition /// Composition
GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const; GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const;
/// Return the inverse /// Return the inverse
GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const; GTSAM_EXPORT Similarity3 inverse() const;
/// @} /// @}
/// @name Group action on Point3 /// @name Group action on Point3
/// @{ /// @{
/// Action on a point p is s*(R*p+t) /// Action on a point p is s*(R*p+t)
GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, // GTSAM_EXPORT Point3 transformFrom(const Point3& p, //
OptionalJacobian<3, 7> H1 = boost::none, // OptionalJacobian<3, 7> H1 = boost::none, //
OptionalJacobian<3, 3> H2 = boost::none) const; OptionalJacobian<3, 3> H2 = boost::none) const;
@ -115,15 +115,15 @@ public:
* This group action satisfies the compatibility condition. * This group action satisfies the compatibility condition.
* For more details, refer to: https://en.wikipedia.org/wiki/Group_action * For more details, refer to: https://en.wikipedia.org/wiki/Group_action
*/ */
GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const; GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const;
/** syntactic sugar for transformFrom */ /** syntactic sugar for transformFrom */
GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const; GTSAM_EXPORT Point3 operator*(const Point3& p) const;
/** /**
* Create Similarity3 by aligning at least three point pairs * Create Similarity3 by aligning at least three point pairs
*/ */
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs); GTSAM_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
/** /**
* Create the Similarity3 object that aligns at least two pose pairs. * Create the Similarity3 object that aligns at least two pose pairs.
@ -135,7 +135,7 @@ public:
* using the algorithm described here: * using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
*/ */
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs); GTSAM_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
/// @} /// @}
/// @name Lie Group /// @name Lie Group
@ -144,12 +144,12 @@ public:
/** Log map at the identity /** Log map at the identity
* \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$ * \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$
*/ */
GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, // GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, //
OptionalJacobian<7, 7> Hm = boost::none); OptionalJacobian<7, 7> Hm = boost::none);
/** Exponential map at the identity /** Exponential map at the identity
*/ */
GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, // GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, //
OptionalJacobian<7, 7> Hm = boost::none); OptionalJacobian<7, 7> Hm = boost::none);
/// Chart at the origin /// Chart at the origin
@ -170,17 +170,17 @@ public:
* @return 4*4 element of Lie algebra that can be exponentiated * @return 4*4 element of Lie algebra that can be exponentiated
* TODO(frank): rename to Hat, make part of traits * TODO(frank): rename to Hat, make part of traits
*/ */
GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi); GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi);
/// Project from one tangent space to another /// Project from one tangent space to another
GTSAM_UNSTABLE_EXPORT Matrix7 AdjointMap() const; GTSAM_EXPORT Matrix7 AdjointMap() const;
/// @} /// @}
/// @name Standard interface /// @name Standard interface
/// @{ /// @{
/// Calculate 4*4 matrix group equivalent /// Calculate 4*4 matrix group equivalent
GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const; GTSAM_EXPORT const Matrix4 matrix() const;
/// Return a GTSAM rotation /// Return a GTSAM rotation
const Rot3& rotation() const { const Rot3& rotation() const {
@ -199,7 +199,7 @@ public:
/// Convert to a rigid body pose (R, s*t) /// Convert to a rigid body pose (R, s*t)
/// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast. /// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast.
GTSAM_UNSTABLE_EXPORT operator Pose3() const; GTSAM_EXPORT operator Pose3() const;
/// Dimensionality of tangent space = 7 DOF - used to autodetect sizes /// Dimensionality of tangent space = 7 DOF - used to autodetect sizes
inline static size_t Dim() { inline static size_t Dim() {

4
gtsam/gtsam.i
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@ -1037,8 +1037,8 @@ class Similarity3 {
Similarity3(const Matrix& T); Similarity3(const Matrix& T);
gtsam::Pose3 transformFrom(const gtsam::Pose3& T); gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
static Similarity3 Align(const gtsam::Point3Pairs & abPointPairs); static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
// Standard Interface // Standard Interface
const Matrix matrix() const; const Matrix matrix() const;