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Wrapping prior factor and general sfm factor or Cal3Bundler #644

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merged 3 commits into from
Dec 29, 2020
Merged

Wrapping prior factor and general sfm factor or Cal3Bundler #644

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d6ef545
Wrapping Cal3Bundler's prior and GeneralSFMFactor2
ayushbaid Dec 28, 2020
a48aff0
Merge branch 'develop' of github.com:borglab/gtsam into develop
ayushbaid Dec 28, 2020
c7c0c77
Adding Cal3DS2 prior factor and using template instead of typedefs
ayushbaid Dec 29, 2020
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4 changes: 2 additions & 2 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -2520,7 +2520,7 @@ class NonlinearISAM {
#include <gtsam/geometry/StereoPoint2.h>

#include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
Expand Down Expand Up @@ -2666,7 +2666,7 @@ typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> Gene
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;

template<CALIBRATION = {gtsam::Cal3_S2}>
template<CALIBRATION = {gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
gtsam::Point2 measured() const;
Expand Down