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Merge pull request #719 from borglab/fix/sim3
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Fix the Similarity3 export declarations and wrapper
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@varunagrawal
varunagrawal authored Mar 18, 2021
2 parents 436c8fa + 4bf3530 commit 9e3813a
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Showing 2 changed files with 26 additions and 26 deletions.
48 changes: 24 additions & 24 deletions gtsam/geometry/Similarity3.h
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
#include <gtsam/geometry/Pose3.h>
#include <gtsam/base/Lie.h>
#include <gtsam/base/Manifold.h>
#include <gtsam_unstable/dllexport.h>
#include <gtsam/dllexport.h>


namespace gtsam {
Expand Down Expand Up @@ -53,54 +53,54 @@ class Similarity3: public LieGroup<Similarity3, 7> {
/// @{

/// Default constructor
GTSAM_UNSTABLE_EXPORT Similarity3();
GTSAM_EXPORT Similarity3();

/// Construct pure scaling
GTSAM_UNSTABLE_EXPORT Similarity3(double s);
GTSAM_EXPORT Similarity3(double s);

/// Construct from GTSAM types
GTSAM_UNSTABLE_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);
GTSAM_EXPORT Similarity3(const Rot3& R, const Point3& t, double s);

/// Construct from Eigen types
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);
GTSAM_EXPORT Similarity3(const Matrix3& R, const Vector3& t, double s);

/// Construct from matrix [R t; 0 s^-1]
GTSAM_UNSTABLE_EXPORT Similarity3(const Matrix4& T);
GTSAM_EXPORT Similarity3(const Matrix4& T);

/// @}
/// @name Testable
/// @{

/// Compare with tolerance
GTSAM_UNSTABLE_EXPORT bool equals(const Similarity3& sim, double tol) const;
GTSAM_EXPORT bool equals(const Similarity3& sim, double tol) const;

/// Exact equality
GTSAM_UNSTABLE_EXPORT bool operator==(const Similarity3& other) const;
GTSAM_EXPORT bool operator==(const Similarity3& other) const;

/// Print with optional string
GTSAM_UNSTABLE_EXPORT void print(const std::string& s) const;
GTSAM_EXPORT void print(const std::string& s) const;

GTSAM_UNSTABLE_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);
GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const Similarity3& p);

/// @}
/// @name Group
/// @{

/// Return an identity transform
GTSAM_UNSTABLE_EXPORT static Similarity3 identity();
GTSAM_EXPORT static Similarity3 identity();

/// Composition
GTSAM_UNSTABLE_EXPORT Similarity3 operator*(const Similarity3& S) const;
GTSAM_EXPORT Similarity3 operator*(const Similarity3& S) const;

/// Return the inverse
GTSAM_UNSTABLE_EXPORT Similarity3 inverse() const;
GTSAM_EXPORT Similarity3 inverse() const;

/// @}
/// @name Group action on Point3
/// @{

/// Action on a point p is s*(R*p+t)
GTSAM_UNSTABLE_EXPORT Point3 transformFrom(const Point3& p, //
GTSAM_EXPORT Point3 transformFrom(const Point3& p, //
OptionalJacobian<3, 7> H1 = boost::none, //
OptionalJacobian<3, 3> H2 = boost::none) const;

Expand All @@ -115,15 +115,15 @@ class Similarity3: public LieGroup<Similarity3, 7> {
* This group action satisfies the compatibility condition.
* For more details, refer to: https://en.wikipedia.org/wiki/Group_action
*/
GTSAM_UNSTABLE_EXPORT Pose3 transformFrom(const Pose3& T) const;
GTSAM_EXPORT Pose3 transformFrom(const Pose3& T) const;

/** syntactic sugar for transformFrom */
GTSAM_UNSTABLE_EXPORT Point3 operator*(const Point3& p) const;
GTSAM_EXPORT Point3 operator*(const Point3& p) const;

/**
* Create Similarity3 by aligning at least three point pairs
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);
GTSAM_EXPORT static Similarity3 Align(const std::vector<Point3Pair>& abPointPairs);

/**
* Create the Similarity3 object that aligns at least two pose pairs.
Expand All @@ -135,7 +135,7 @@ class Similarity3: public LieGroup<Similarity3, 7> {
* using the algorithm described here:
* http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
GTSAM_EXPORT static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);

/// @}
/// @name Lie Group
Expand All @@ -144,12 +144,12 @@ class Similarity3: public LieGroup<Similarity3, 7> {
/** Log map at the identity
* \f$ [R_x,R_y,R_z, t_x, t_y, t_z, \lambda] \f$
*/
GTSAM_UNSTABLE_EXPORT static Vector7 Logmap(const Similarity3& s, //
GTSAM_EXPORT static Vector7 Logmap(const Similarity3& s, //
OptionalJacobian<7, 7> Hm = boost::none);

/** Exponential map at the identity
*/
GTSAM_UNSTABLE_EXPORT static Similarity3 Expmap(const Vector7& v, //
GTSAM_EXPORT static Similarity3 Expmap(const Vector7& v, //
OptionalJacobian<7, 7> Hm = boost::none);

/// Chart at the origin
Expand All @@ -170,17 +170,17 @@ class Similarity3: public LieGroup<Similarity3, 7> {
* @return 4*4 element of Lie algebra that can be exponentiated
* TODO(frank): rename to Hat, make part of traits
*/
GTSAM_UNSTABLE_EXPORT static Matrix4 wedge(const Vector7& xi);
GTSAM_EXPORT static Matrix4 wedge(const Vector7& xi);

/// Project from one tangent space to another
GTSAM_UNSTABLE_EXPORT Matrix7 AdjointMap() const;
GTSAM_EXPORT Matrix7 AdjointMap() const;

/// @}
/// @name Standard interface
/// @{

/// Calculate 4*4 matrix group equivalent
GTSAM_UNSTABLE_EXPORT const Matrix4 matrix() const;
GTSAM_EXPORT const Matrix4 matrix() const;

/// Return a GTSAM rotation
const Rot3& rotation() const {
Expand All @@ -199,7 +199,7 @@ class Similarity3: public LieGroup<Similarity3, 7> {

/// Convert to a rigid body pose (R, s*t)
/// TODO(frank): why is this here? Red flag! Definitely don't have it as a cast.
GTSAM_UNSTABLE_EXPORT operator Pose3() const;
GTSAM_EXPORT operator Pose3() const;

/// Dimensionality of tangent space = 7 DOF - used to autodetect sizes
inline static size_t Dim() {
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4 changes: 2 additions & 2 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -1037,8 +1037,8 @@ class Similarity3 {
Similarity3(const Matrix& T);

gtsam::Pose3 transformFrom(const gtsam::Pose3& T);
static Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);
static gtsam::Similarity3 Align(const gtsam::Point3Pairs & abPointPairs);
static gtsam::Similarity3 Align(const gtsam::Pose3Pairs & abPosePairs);

// Standard Interface
const Matrix matrix() const;
Expand Down

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