diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i index 9baa49e8e..151c42155 100644 --- a/gtsam/geometry/geometry.i +++ b/gtsam/geometry/geometry.i @@ -890,6 +890,28 @@ class PinholeCamera { // enable pickling in python void pickle() const; }; + +#include +class Similarity2 { + // Standard Constructors + Similarity2(); + Similarity2(double s); + Similarity2(const gtsam::Rot2& R, const gtsam::Point2& t, double s); + Similarity2(const Matrix& R, const Vector& t, double s); + Similarity2(const Matrix& T); + + gtsam::Point2 transformFrom(const gtsam::Point2& p) const; + gtsam::Pose2 transformFrom(const gtsam::Pose2& T); + + static gtsam::Similarity2 Align(const gtsam::Point2Pairs& abPointPairs); + static gtsam::Similarity2 Align(const gtsam::Pose2Pairs& abPosePairs); + + // Standard Interface + const Matrix matrix() const; + const gtsam::Rot2& rotation(); + const gtsam::Point2& translation(); + double scale() const; +}; #include class Similarity3 {