From d4eadbaf20099791e9fbae43075652535be31370 Mon Sep 17 00:00:00 2001
From: Fan Jiang <prof.fan@foxmail.com>
Date: Tue, 3 May 2022 13:54:45 -0400
Subject: [PATCH] Added wrapping for Shonan constructor

---
 gtsam/sfm/sfm.i | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index bf9a73ac5..901270d9c 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -9,6 +9,8 @@ class SfmTrack {
   SfmTrack();
   SfmTrack(const gtsam::Point3& pt);
   const Point3& point3() const;
+  
+  Point3 p;
 
   double r;
   double g;
@@ -34,6 +36,9 @@ class SfmData {
   static gtsam::SfmData FromBundlerFile(string filename);
   static gtsam::SfmData FromBalFile(string filename);
 
+  std::vector<gtsam::SfmTrack> tracks;
+  std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>> cameras;
+
   void addTrack(const gtsam::SfmTrack& t);
   void addCamera(const gtsam::SfmCamera& cam);
   size_t numberTracks() const;
@@ -184,6 +189,10 @@ class ShonanAveraging2 {
 };
 
 class ShonanAveraging3 {
+  ShonanAveraging3(
+      const std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>& measurements,
+      const gtsam::ShonanAveragingParameters3& parameters =
+          gtsam::ShonanAveragingParameters3());
   ShonanAveraging3(string g2oFile);
   ShonanAveraging3(string g2oFile,
                    const gtsam::ShonanAveragingParameters3& parameters);