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Be consistent in wrapping templated triangulation versions

release/4.3a0
Frank Dellaert 2022-05-10 22:58:07 -04:00
parent 58cbdcddd5
commit e60f4ac0c6
1 changed files with 66 additions and 23 deletions
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89
gtsam/geometry/geometry.i
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@ -1096,56 +1096,99 @@ virtual class TriangulationResult : boost::optional<gtsam::Point3> {
// Templates appear not yet supported for free functions - issue raised at
// borglab/wrap#14 to add support
// Cal3_S2 versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
// Cal3DS2 versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3DS2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
// Cal3Bundler versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
// Cal3Fisheye versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Fisheye* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Fisheye* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Fisheye& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
// Cal3Unified versions
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Unified* sharedCal,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize,
const gtsam::SharedNoiseModel& model = nullptr);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal,
gtsam::Cal3Unified* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3DS2* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Unified& cameras,
const gtsam::Point2Vector& measurements,
const gtsam::Point3& initialEstimate);
#include <gtsam/geometry/BearingRange.h>
template <POSE, POINT, BEARING, RANGE>
class BearingRange {