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Release/4.2 python ctor wrapper stereo #2086

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12 changes: 12 additions & 0 deletions gtsam/slam/slam.i
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Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,18 @@ virtual class GenericStereoFactor : gtsam::NoiseModelFactor {
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel, size_t poseKey,
size_t landmarkKey, const gtsam::Cal3_S2Stereo* K);
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel,
size_t poseKey, size_t landmarkKey,
const gtsam::Cal3_S2Stereo* K,
const POSE& body_P_sensor);
GenericStereoFactor(const gtsam::StereoPoint2& measured,
const gtsam::noiseModel::Base* noiseModel,
size_t poseKey, size_t landmarkKey,
const gtsam::Cal3_S2Stereo* K,
bool throwCheirality, bool verboseCheirality,
const POSE& body_P_sensor);

gtsam::StereoPoint2 measured() const;
gtsam::Cal3_S2Stereo* calibration() const;

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