From c0e5ce9ef9da661440d13e47953400d96be9ab54 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 7 May 2022 18:28:54 -0700
Subject: [PATCH] wrapper updates

---
 gtsam/sfm/sfm.i                               | 30 ++++++++++++++-----
 .../examples/TranslationAveragingExample.py   |  2 +-
 .../gtsam/tests/test_TranslationRecovery.py   | 10 +++++--
 3 files changed, 30 insertions(+), 12 deletions(-)

diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 66280037c..122a9b5a6 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -265,19 +265,33 @@ class MFAS {
 class TranslationRecoveryParams {
   gtsam::LevenbergMarquardtParams lmParams;
   gtsam::Values initial;
+  TranslationRecoveryParams();
 };
 
 class TranslationRecovery {
-  TranslationRecovery(
+  TranslationRecovery(const gtsam::TranslationRecoveryParams& lmParams);
+  TranslationRecovery();  // default params.
+  void addPrior(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
+                const double scale,
+                const gtsam::BinaryMeasurementsPoint3& betweenTranslations,
+                gtsam::NonlinearFactorGraph @graph,
+                const gtsam::SharedNoiseModel& priorNoiseModel) const;
+  void addPrior(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
+                const double scale,
+                const gtsam::BinaryMeasurementsPoint3& betweenTranslations,
+                gtsam::NonlinearFactorGraph @graph) const;
+  gtsam::NonlinearFactorGraph buildGraph(
+      const gtsam::BinaryMeasurementsUnit3& relativeTranslations) const;
+  gtsam::Values run(
       const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
-      const gtsam::TranslationRecoveryParams& lmParams);
-  TranslationRecovery(const gtsam::BinaryMeasurementsUnit3&
-                          relativeTranslations);  // default params
-  gtsam::Values run(const gtsam::BinaryMeasurementsPoint3& betweenTranslations,
-                    const double scale) const;
+      const double scale,
+      const gtsam::BinaryMeasurementsPoint3& betweenTranslations) const;
   // default empty betweenTranslations
-  // gtsam::Values run(const double scale) const;
-  gtsam::Values run() const;  // default scale = 1.0
+  gtsam::Values run(const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
+                    const double scale) const;
+  // default scale = 1.0, empty betweenTranslations
+  gtsam::Values run(
+      const gtsam::BinaryMeasurementsUnit3& relativeTranslations) const;
 };
 
 }  // namespace gtsam
diff --git a/python/gtsam/examples/TranslationAveragingExample.py b/python/gtsam/examples/TranslationAveragingExample.py
index 054b61126..92a7d04e3 100644
--- a/python/gtsam/examples/TranslationAveragingExample.py
+++ b/python/gtsam/examples/TranslationAveragingExample.py
@@ -123,7 +123,7 @@ def estimate_poses(i_iZj_list: gtsam.BinaryMeasurementsUnit3,
     w_iZj_inliers = filter_outliers(w_iZj_list)
 
     # Run the optimizer to obtain translations for normalized directions.
-    wtc_values = gtsam.TranslationRecovery(w_iZj_inliers).run()
+    wtc_values = gtsam.TranslationRecovery().run(w_iZj_inliers)
 
     wTc_values = gtsam.Values()
     for key in wRc_values.keys():
diff --git a/python/gtsam/tests/test_TranslationRecovery.py b/python/gtsam/tests/test_TranslationRecovery.py
index 0fb0518b6..2875e897e 100644
--- a/python/gtsam/tests/test_TranslationRecovery.py
+++ b/python/gtsam/tests/test_TranslationRecovery.py
@@ -34,8 +34,10 @@ class TestTranslationRecovery(unittest.TestCase):
 
     def test_constructor(self):
         """Construct from binary measurements."""
-        algorithm = gtsam.TranslationRecovery(gtsam.BinaryMeasurementsUnit3())
+        algorithm = gtsam.TranslationRecovery()
         self.assertIsInstance(algorithm, gtsam.TranslationRecovery)
+        algorithm_params = gtsam.TranslationRecovery(gtsam.TranslationRecoveryParams())
+        self.assertIsInstance(algorithm_params, gtsam.TranslationRecovery)
 
     def test_run(self):
         gt_poses = ExampleValues()
@@ -44,10 +46,12 @@ class TestTranslationRecovery(unittest.TestCase):
         # Set verbosity to Silent for tests
         lmParams = gtsam.LevenbergMarquardtParams()
         lmParams.setVerbosityLM("silent")
+        params = gtsam.TranslationRecoveryParams()
+        params.lmParams = lmParams
 
-        algorithm = gtsam.TranslationRecovery(measurements, lmParams)
+        algorithm = gtsam.TranslationRecovery(params)
         scale = 2.0
-        result = algorithm.run(scale)
+        result = algorithm.run(measurements, scale)
 
         w_aTc = gt_poses.atPose3(2).translation() - gt_poses.atPose3(0).translation()
         w_aTb = gt_poses.atPose3(1).translation() - gt_poses.atPose3(0).translation()