wrapping triangulate nonlinear

borglab · Jul 21, 2021 · 15c29ca · 15c29ca
1 parent 6d6d129
commit 15c29ca
Showing 1 changed file with 14 additions and 1 deletion.
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -1145,7 +1145,20 @@ gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3_S2& cameras,
 gtsam::Point3 triangulatePoint3(const gtsam::CameraSetCal3Bundler& 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 Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses, 
+    gtsam::Cal3DS2* sharedCal, const gtsam::Point2Vector& measurements, 
+    const Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const gtsam::Pose3Vector& poses, 
+    gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements, 
+    const Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const CameraSetCal3_S2& cameras,
+    const gtsam::Point2Vector& measurements, const Point3& initialEstimate);
+gtsam::Point3 triangulateNonlinear(const CameraSetCal3Bundler& cameras, 
+    const gtsam::Point2Vector& measurements, const Point3& initialEstimate);
+
 //*************************************************************************
 // Symbolic
 //*************************************************************************