Merge pull request #828 from borglab/feature/wrap-triangulate-nonlinear

Wrapping triangulateNonlinear from triangulation.h
borglab · Jul 25, 2021 · 158d279 · 158d279
2 parents 5bb69f7 + d4951f0
commit 158d279
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
@@ -982,6 +982,24 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Fisheye& cameras,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Unified& cameras,
                                 const gtsam::Point2Vector& measurements,
                                 double rank_tol, bool optimize);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3_S2* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3DS2* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses,
+                                   gtsam::Cal3Bundler* sharedCal,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3_S2& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::CameraSetCal3Bundler& cameras,
+                                   const gtsam::Point2Vector& measurements,
+                                   const gtsam::Point3& initialEstimate);
 
 #include <gtsam/geometry/BearingRange.h>
 template <POSE, POINT, BEARING, RANGE>