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../gtsfm/sfm/sfm.i

release/4.3a0
Akshay Krishnan 2022-05-07 09:23:00 -07:00
parent e517c34464
commit 0e8c5eb5a7
1 changed files with 3 additions and 3 deletions
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6
gtsam/sfm/sfm.i
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@ -263,12 +263,9 @@ class MFAS {
#include <gtsam/sfm/TranslationRecovery.h>
class TranslationRecoveryParams {
gtsam::BinaryMeasurementsPoint3 getBetweenTranslations() const;
gtsam::Values getInitialValues() const;
gtsam::LevenbergMarquardtParams getLMParams() const;
void setBetweenTranslations(
const gtsam::BinaryMeasurementsPoint3& betweenTranslations);
void setInitialValues(const gtsam::Values& values);
void setLMParams(const gtsam::LevenbergMarquardtParams& lmParams);
};
@ -279,6 +276,9 @@ class TranslationRecovery {
const gtsam::TranslationRecoveryParams& lmParams);
TranslationRecovery(const gtsam::BinaryMeasurementsUnit3&
relativeTranslations); // default params
gtsam::Values run(const gtsam::BinaryMeasurementsPoint3& betweenTranslations,
const double scale) const;
// default empty betweenTranslations
gtsam::Values run(const double scale) const;
gtsam::Values run() const; // default scale = 1.0
};