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adding to python?

release/4.3a0
lcarlone 2021-11-28 16:38:01 -05:00
parent 43ddf2d5dd
commit b66b5c1657
2 changed files with 10 additions and 3 deletions
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6
gtsam/geometry/geometry.i
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@ -992,6 +992,9 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetSpherical& cameras,
const std::vector<gtsam::Unit3>& measurements,
double rank_tol, bool optimize);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
@ -1010,6 +1013,9 @@ gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetSpherical& cameras,
const std::vector<gtsam::Unit3>& measurements,
const gtsam::Point3& initialEstimate);
#include <gtsam/geometry/BearingRange.h>
template <POSE, POINT, BEARING, RANGE>

3
gtsam/geometry/triangulation.h
View File

@ -24,6 +24,7 @@
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
@ -518,6 +519,6 @@ using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
using CameraSetCal3Fisheye = CameraSet<PinholeCamera<Cal3Fisheye>>;
using CameraSetCal3Unified = CameraSet<PinholeCamera<Cal3Unified>>;
using CameraSetSpherical = CameraSet<SphericalCamera>;
} // \namespace gtsam