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wrapping translation recovery doesnt build

release/4.3a0
akrishnan86 2020-08-27 22:18:53 -07:00
parent 02cd45d4b8
commit 9b481cb790
2 changed files with 12 additions and 0 deletions
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11
gtsam/gtsam.i
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@ -3033,6 +3033,17 @@ class ShonanAveraging3 {
pair<gtsam::Values, double> run(const gtsam::Values& initial, size_t min_p, size_t max_p) const; 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 // Navigation
//************************************************************************* //*************************************************************************

1
python/gtsam/specializations.h
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@ -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<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::Pose3> > > >(m_, "BetweenFactorPose3s");
py::bind_vector<std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > > >(m_, "BetweenFactorPose2s"); 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");