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Wrapped GenericStereoFactor

release/4.3a0
Richard Roberts 2012-07-24 14:23:36 +00:00
parent cceebbf41c
commit fa89f59f54
1 changed files with 11 additions and 0 deletions
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11
gtsam.h
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@ -1446,6 +1446,17 @@ virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
gtsam::Point2 measured() const; 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 } //\namespace gtsam
//************************************************************************* //*************************************************************************