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Added derivatives to Errors

release/4.3a0
dellaert 2015-02-23 12:37:06 +01:00
parent fdbff461f3
commit 0fee8f37a6
1 changed files with 4 additions and 3 deletions
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7
gtsam/geometry/CameraSet.h
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@ -140,9 +140,10 @@ public:
}
/// Calculate vector of re-projection errors
Vector reprojectionErrors(const Point3& point,
const std::vector<Z>& measured) const {
return ErrorVector(project2(point), measured);
Vector reprojectionErrors(const Point3& point, const std::vector<Z>& measured,
boost::optional<FBlocks&> F = boost::none, //
boost::optional<Matrix&> E = boost::none) const {
return ErrorVector(project2(point,F,E), measured);
}
/// Calculate vector of re-projection errors, from point at infinity