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wrap TriangulationFactor

release/4.3a0
Varun Agrawal 2024-09-25 11:28:38 -04:00
parent 798db544a4
commit 832ef7725b
1 changed files with 41 additions and 2 deletions
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43
gtsam/slam/slam.i
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@ -347,11 +347,50 @@ virtual class FrobeniusBetweenFactor : gtsam::NoiseModelFactor {
gtsam::Vector evaluateError(const T& R1, const T& R2);
};
#include <gtsam/slam/TriangulationFactor.h>
template <CAMERA>
virtual class TriangulationFactor : gtsam::NoiseModelFactor {
TriangulationFactor();
TriangulationFactor(const CAMERA& camera, const gtsam::This::Measurement& measured,
const gtsam::noiseModel::Base* model, gtsam::Key pointKey,
bool throwCheirality = false,
bool verboseCheirality = false);
void print(const string& s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const This& p, double tol = 1e-9) const;
gtsam::Vector evaluateError(const gtsam::Point3& point) const;
const gtsam::This::Measurement& measured() const;
};
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3_S2>>
TriangulationFactorCal3_S2;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3DS2>>
TriangulationFactorCal3DS2;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>>
TriangulationFactorCal3Bundler;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Fisheye>>
TriangulationFactorCal3Fisheye;
typedef gtsam::TriangulationFactor<gtsam::PinholeCamera<gtsam::Cal3Unified>>
TriangulationFactorCal3Unified;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3_S2>>
TriangulationFactorPoseCal3_S2;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3DS2>>
TriangulationFactorPoseCal3DS2;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Bundler>>
TriangulationFactorPoseCal3Bundler;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Fisheye>>
TriangulationFactorPoseCal3Fisheye;
typedef gtsam::TriangulationFactor<gtsam::PinholePose<gtsam::Cal3Unified>>
TriangulationFactorPoseCal3Unified;
#include <gtsam/slam/lago.h>
namespace lago {
gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, bool useOdometricPath = true);
gtsam::Values initialize(const gtsam::NonlinearFactorGraph& graph, const gtsam::Values& initialGuess);
}
} // namespace gtsam