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add standard interface for Sim3 in wrapper

release/4.3a0
John Lambert 2021-02-26 08:25:28 -05:00
parent 7d90e5040b
commit 06e6aa918f
1 changed files with 6 additions and 1 deletions
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7
gtsam/gtsam.i
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@ -1080,6 +1080,7 @@ class PointPairs
}; };
class Similarity3 { class Similarity3 {
// Standard Constructors
Similarity3(); Similarity3();
Similarity3(double s); Similarity3(double s);
Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s); Similarity3(const gtsam::Rot3& R, const gtsam::Point3& t, double s);
@ -1089,7 +1090,11 @@ class Similarity3 {
static Similarity3 Align(const gtsam::PointPairs & abPointPairs); static Similarity3 Align(const gtsam::PointPairs & abPointPairs);
static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs); static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
// Standard Interface
const Matrix matrix() const;
const gtsam::Rot3& rotation();
const gtsam::Point3& translation();
double scale() const;
}; };