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Start moving Sim(3) functionality into Python wrapper #700

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Start moving Sim(3) functionality into Python wrapper #700

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johnwlambert
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  • Sim(3) may be useful to us in GTSFM. Exposing some of its functionality to the wrapper.

@johnwlambert
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Hi @dellaert , is there a particular bug that is keeping Sim(3) from being moved out of gtsam_unstable into the gtsam directory?

@johnwlambert
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Hi @dellaert , is there a particular bug that is keeping Sim(3) from being moved out of gtsam_unstable into the gtsam directory?

@dellaert a gentle reminder to take a look at this when you get a moment. Thanks!

akshay-krishnan
akshay-krishnan approved these changes Feb 25, 2021
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Do we need this if #702 is submitted?

akshay-krishnan
akshay-krishnan reviewed Feb 25, 2021
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gtsam_unstable/gtsam_unstable.i
Comment on lines +171 to +172
Similarity3(const Matrix& R, const Vector& t, double s);
Similarity3(const Matrix& T);
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Do these constructors check the size of the matrix?

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They don't. In the whole gtsam.i file actually only Matrix & T or Vector & t is used, and Matrix3 etc throws a compilation error

@johnwlambert
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Do we need this if #702 is submitted?

702 is a work in-progress...currently broken. Was just trying to make some small PRs to slowly get it integrated

@akshay-krishnan
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We may not need to wrap it in unstable if we can move it outside. Unless that will take time and we need this quick.

@varunagrawal
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Is this PR still needed given #702?

@johnwlambert
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Is this PR still needed given #702?

No, I'll close it.

@varunagrawal varunagrawal deleted the sim3-constructors-wrapper branch October 22, 2023 19:55
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@akshay-krishnan akshay-krishnan akshay-krishnan approved these changes

@ProfFan ProfFan ProfFan approved these changes

@dellaert dellaert Awaiting requested review from dellaert

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@johnwlambert @akshay-krishnan @varunagrawal @ProfFan