From 9b481cb790d25ff9a013f9ef40f89dc7814e5ba9 Mon Sep 17 00:00:00 2001
From: akrishnan86 <akrishnan86@gatech.edu>
Date: Thu, 27 Aug 2020 22:18:53 -0700
Subject: [PATCH] wrapping translation recovery doesnt build

---
 gtsam/gtsam.i                  | 11 +++++++++++
 python/gtsam/specializations.h |  1 +
 2 files changed, 12 insertions(+)

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index b9ecf6f3b..a3d5c1a41 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -3033,6 +3033,17 @@ class ShonanAveraging3 {
   pair<gtsam::Values, double> run(const gtsam::Values& initial, size_t min_p, size_t max_p) const;
 };
 
+#include <gtsam/sfm/TranslationRecovery.h>
+class TranslationRecovery {
+  TranslationRecovery(const BinaryMeasurementsUnit3& relativeTranslations,
+                      const LevenbergMarquardtParams& lmParams);
+  TranslationRecovery(
+      const BinaryMeasurementsUnit3&
+          relativeTranslations);  // default LevenbergMarquardtParams
+  gtsam::Values run(const double scale) const;
+  gtsam::Values run() const;    // default scale = 1.0
+};
+
 //*************************************************************************
 // Navigation
 //*************************************************************************
diff --git a/python/gtsam/specializations.h b/python/gtsam/specializations.h
index 3b60e42cb..52fffab6b 100644
--- a/python/gtsam/specializations.h
+++ b/python/gtsam/specializations.h
@@ -9,3 +9,4 @@ py::bind_vector<std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point
 py::bind_vector<std::vector<gtsam::Pose3> >(m_, "Pose3Vector");
 py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose3> > > >(m_, "BetweenFactorPose3s");
 py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s");
+py::bind_vector<std::vector<gtsam::BinaryMeasurement<gtsam::Unit3> > >(m_, "BinaryMeasurementsUnit3");