12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Standard formatting

release/4.3a0
dellaert 2015-02-21 07:29:08 +01:00
parent f097ceef38
commit 0498a4550b
2 changed files with 52 additions and 45 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
gtsam/geometry/PinholeCamera.h
View File

@ -504,11 +504,14 @@ private:
}; };
template<typename Calibration>
struct traits<PinholeCamera<Calibration> > : public internal::Manifold<
PinholeCamera<Calibration> > {
};
template<typename Calibration> template<typename Calibration>
struct traits< PinholeCamera<Calibration> > : public internal::Manifold<PinholeCamera<Calibration> > {}; struct traits<const PinholeCamera<Calibration> > : public internal::Manifold<
PinholeCamera<Calibration> > {
template<typename Calibration> };
struct traits< const PinholeCamera<Calibration> > : public internal::Manifold<PinholeCamera<Calibration> > {};
} // \ gtsam } // \ gtsam

22
gtsam/geometry/PinholePose.h
View File

@ -40,7 +40,9 @@ private:
public: public:
enum { dimension = 6 }; enum {
dimension = 6
};
/// @name Standard Constructors /// @name Standard Constructors
/// @{ /// @{
@ -70,8 +72,8 @@ public:
* (theta 0 = looking in direction of positive X axis) * (theta 0 = looking in direction of positive X axis)
* @param height camera height * @param height camera height
*/ */
static PinholePose Level(const boost::shared_ptr<Calibration>& K, const Pose2& pose2, static PinholePose Level(const boost::shared_ptr<Calibration>& K,
double height) { const Pose2& pose2, double height) {
const double st = sin(pose2.theta()), ct = cos(pose2.theta()); const double st = sin(pose2.theta()), ct = cos(pose2.theta());
const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
const Rot3 wRc(x, y, z); const Rot3 wRc(x, y, z);
@ -235,8 +237,7 @@ public:
* @param Dcamera is the Jacobian w.r.t. [pose3 calibration] * @param Dcamera is the Jacobian w.r.t. [pose3 calibration]
* @param Dpoint is the Jacobian w.r.t. point3 * @param Dpoint is the Jacobian w.r.t. point3
*/ */
Point2 project2( Point2 project2(const Point3& pw,
const Point3& pw,
OptionalJacobian<2, 6> Dcamera = boost::none, OptionalJacobian<2, 6> Dcamera = boost::none,
OptionalJacobian<2, 3> Dpoint = boost::none) const { OptionalJacobian<2, 3> Dpoint = boost::none) const {
@ -388,11 +389,14 @@ private:
}; };
template<typename Calibration>
struct traits<PinholePose<Calibration> > : public internal::Manifold<
PinholePose<Calibration> > {
};
template<typename Calibration> template<typename Calibration>
struct traits< PinholePose<Calibration> > : public internal::Manifold<PinholePose<Calibration> > {}; struct traits<const PinholePose<Calibration> > : public internal::Manifold<
PinholePose<Calibration> > {
template<typename Calibration> };
struct traits< const PinholePose<Calibration> > : public internal::Manifold<PinholePose<Calibration> > {};
} // \ gtsam } // \ gtsam