From c716f63219d5d8b0ae1fca0242ad3320cca53438 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Sun, 6 Feb 2022 11:26:29 -0500
Subject: [PATCH] wrap Pose2Pairs

---
 python/gtsam/preamble/geometry.h        | 4 ++--
 python/gtsam/specializations/geometry.h | 1 +
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/python/gtsam/preamble/geometry.h b/python/gtsam/preamble/geometry.h
index 35fe2a577..bd0441d06 100644
--- a/python/gtsam/preamble/geometry.h
+++ b/python/gtsam/preamble/geometry.h
@@ -23,8 +23,8 @@ PYBIND11_MAKE_OPAQUE(
     std::vector<gtsam::Point2, Eigen::aligned_allocator<gtsam::Point2>>);
 PYBIND11_MAKE_OPAQUE(gtsam::Point2Pairs);
 PYBIND11_MAKE_OPAQUE(gtsam::Point3Pairs);
+PYBIND11_MAKE_OPAQUE(gtsam::Pose2Pairs);
 PYBIND11_MAKE_OPAQUE(gtsam::Pose3Pairs);
 PYBIND11_MAKE_OPAQUE(std::vector<gtsam::Pose3>);
-PYBIND11_MAKE_OPAQUE(
-    gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
+PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler>>);
 PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>);
diff --git a/python/gtsam/specializations/geometry.h b/python/gtsam/specializations/geometry.h
index a492ce8eb..5a0ea35ef 100644
--- a/python/gtsam/specializations/geometry.h
+++ b/python/gtsam/specializations/geometry.h
@@ -16,6 +16,7 @@ py::bind_vector<
     m_, "Point2Vector");
 py::bind_vector<std::vector<gtsam::Point2Pair>>(m_, "Point2Pairs");
 py::bind_vector<std::vector<gtsam::Point3Pair>>(m_, "Point3Pairs");
+py::bind_vector<std::vector<gtsam::Pose2Pair>>(m_, "Pose2Pairs");
 py::bind_vector<std::vector<gtsam::Pose3Pair>>(m_, "Pose3Pairs");
 py::bind_vector<std::vector<gtsam::Pose3>>(m_, "Pose3Vector");
 py::bind_vector<gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2>>>(