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Adding Cal3DS2 prior factor and using template instead of typedefs

release/4.3a0
Ayush Baid 2020-12-29 08:53:19 +05:30
parent a48aff0c43
commit c7c0c77a12
1 changed files with 2 additions and 5 deletions
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7
gtsam/gtsam.i
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@ -2520,7 +2520,7 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h> #include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h> #include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}> template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor { virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const; T prior() const;
@ -2666,7 +2666,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> Gene
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
template<CALIBRATION> template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey); GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
gtsam::Point2 measured() const; gtsam::Point2 measured() const;
@ -2674,9 +2674,6 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
}; };
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3DS2> GeneralSFMFactor2Cal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3Bundler> GeneralSFMFactor2Cal3Bundler;
#include <gtsam/slam/SmartProjectionFactor.h> #include <gtsam/slam/SmartProjectionFactor.h>
class SmartProjectionParams { class SmartProjectionParams {