12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Added wrapping for Shonan constructor

release/4.3a0
Fan Jiang 2022-05-03 13:54:45 -04:00
parent 3571420010
commit d4eadbaf20
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/sfm/sfm.i
View File

@ -9,6 +9,8 @@ class SfmTrack {
SfmTrack(); SfmTrack();
SfmTrack(const gtsam::Point3& pt); SfmTrack(const gtsam::Point3& pt);
const Point3& point3() const; const Point3& point3() const;
Point3 p;
double r; double r;
double g; double g;
@ -34,6 +36,9 @@ class SfmData {
static gtsam::SfmData FromBundlerFile(string filename); static gtsam::SfmData FromBundlerFile(string filename);
static gtsam::SfmData FromBalFile(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 addTrack(const gtsam::SfmTrack& t);
void addCamera(const gtsam::SfmCamera& cam); void addCamera(const gtsam::SfmCamera& cam);
size_t numberTracks() const; size_t numberTracks() const;
@ -184,6 +189,10 @@ class ShonanAveraging2 {
}; };
class ShonanAveraging3 { class ShonanAveraging3 {
ShonanAveraging3(
const std::vector<gtsam::BinaryMeasurement<gtsam::Rot3>>& measurements,
const gtsam::ShonanAveragingParameters3& parameters =
gtsam::ShonanAveragingParameters3());
ShonanAveraging3(string g2oFile); ShonanAveraging3(string g2oFile);
ShonanAveraging3(string g2oFile, ShonanAveraging3(string g2oFile,
const gtsam::ShonanAveragingParameters3& parameters); const gtsam::ShonanAveragingParameters3& parameters);