Merge pull request #791 from borglab/add-sim3-point-transformFrom

Add transformFrom() to wrapper, for Point3 in Similarity3
borglab · Jun 10, 2021 · 19d3fe0 · 19d3fe0
2 parents f77af12 + 658ebd3
commit 19d3fe0
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -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);