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Add transformFrom() to wrapper, for Point3 in Similarity3 #791

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Jun 10, 2021
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Add transformFrom() to wrapper, for Point3 in Similarity3 #791

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2 changes: 2 additions & 0 deletions gtsam/gtsam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -1063,7 +1063,9 @@ class Similarity3 {
Similarity3(const Matrix& R, const Vector& t, double s);
Similarity3(const Matrix& T);

gtsam::Point3 transformFrom(const gtsam::Point3& p) const;
gtsam::Pose3 transformFrom(const gtsam::Pose3& T);

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

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