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update wrapper with defaults

release/4.3a0
Varun Agrawal 2021-08-20 00:55:39 -04:00
parent 0098e76e99
commit a7ff8e0600
1 changed files with 7 additions and 12 deletions
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19
gtsam/gtsam.i
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@ -165,22 +165,17 @@ gtsam::Values allPose2s(gtsam::Values& values);
Matrix extractPose2(const gtsam::Values& values); Matrix extractPose2(const gtsam::Values& values);
gtsam::Values allPose3s(gtsam::Values& values); gtsam::Values allPose3s(gtsam::Values& values);
Matrix extractPose3(const gtsam::Values& values); Matrix extractPose3(const gtsam::Values& values);
void perturbPoint2(gtsam::Values& values, double sigma, int seed); void perturbPoint2(gtsam::Values& values, double sigma, int seed = 42u);
void perturbPose2(gtsam::Values& values, double sigmaT, double sigmaR, void perturbPose2(gtsam::Values& values, double sigmaT, double sigmaR,
int seed); int seed = 42u);
void perturbPoint3(gtsam::Values& values, double sigma, int seed); void perturbPoint3(gtsam::Values& values, double sigma, int seed = 42u);
void insertBackprojections(gtsam::Values& values, void insertBackprojections(gtsam::Values& values,
const gtsam::PinholeCamera<gtsam::Cal3_S2>& c, const gtsam::PinholeCamera<gtsam::Cal3_S2>& c,
Vector J, Matrix Z, double depth); Vector J, Matrix Z, double depth);
void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i, void insertProjectionFactors(
Vector J, Matrix Z, gtsam::NonlinearFactorGraph& graph, size_t i, Vector J, Matrix Z,
const gtsam::noiseModel::Base* model, const gtsam::noiseModel::Base* model, const gtsam::Cal3_S2* K,
const gtsam::Cal3_S2* K); const gtsam::Pose3& body_P_sensor = gtsam::Pose3());
void insertProjectionFactors(gtsam::NonlinearFactorGraph& graph, size_t i,
Vector J, Matrix Z,
const gtsam::noiseModel::Base* model,
const gtsam::Cal3_S2* K,
const gtsam::Pose3& body_P_sensor);
Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph, Matrix reprojectionErrors(const gtsam::NonlinearFactorGraph& graph,
const gtsam::Values& values); const gtsam::Values& values);
gtsam::Values localToWorld(const gtsam::Values& local, gtsam::Values localToWorld(const gtsam::Values& local,