Python bindings: Enable use of Similarity2/Similarity3 in nonlinear optimization#2067
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varunagrawal merged 4 commits intoborglab:developfrom Mar 22, 2025
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Awesome contribution, @mhalber , many thanks !!!! |
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When building python bindings from the develop branch, the installed bindings (v4.3a0) do contain
Similarity2andSimilarity3objects, as well asBetweenFactorSimilarity3. However one cannot use these in optimization (NonlinearFactorGraph/'Values'), since addPriorSimilarity3, insert and at methods are not exposed.This is a simple PR extends python bindings to support nonlinear optimization in python using
Similarity2andSimilarity3constraints.To test the extended python functionality I've added two tests to
test_Sim3.pythat are adopted fromgtsam/geometry/tests/testSimilarity3.cppPlease not that I'm not super familiar with the gtsam codebase. While things seem to be working for my use case, if there are any changes required to merge this to the develop branch I'm very happy to hear your feedback and address any issues.
Thanks!