From fa89f59f541625ccb2a6cd440779492882f1f72f Mon Sep 17 00:00:00 2001
From: Richard Roberts <richard.jw.roberts@gmail.com>
Date: Tue, 24 Jul 2012 14:23:36 +0000
Subject: [PATCH] Wrapped GenericStereoFactor

---
 gtsam.h | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/gtsam.h b/gtsam.h
index af2dc3a3b..869ee6a09 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -1446,6 +1446,17 @@ virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
 	gtsam::Point2 measured() const;
 };
 
+
+#include <gtsam/slam/StereoFactor.h>
+template<POSE, LANDMARK>
+virtual class GenericStereoFactor : gtsam::NonlinearFactor {
+	GenericStereoFactor(const gtsam::StereoPoint2& measured, const gtsam::noiseModel::Base* noiseModel,
+		size_t poseKey, size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
+	gtsam::StereoPoint2 measured() const;
+	gtsam::Cal3_S2Stereo* calibration() const;
+};
+typedef gtsam::GenericStereoFactor<gtsam::Pose3, gtsam::Point3> GenericStereoFactor3D;
+
 } //\namespace gtsam
 
 //*************************************************************************