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add interface for vSLAM

release/4.3a0
Yong-Dian Jian 2010-09-19 18:40:04 +00:00
parent 14cb0be4af
commit 3a11ec9b6c
2 changed files with 25 additions and 1 deletions
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17
geometry/CalibratedCamera.cpp
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@ -65,5 +65,22 @@ namespace gtsam {
}
return project_to_camera(q);
}
CalibratedCamera CalibratedCamera::expmap(const Vector& d) const {
return CalibratedCamera(pose().expmap(d)) ;
}
Vector CalibratedCamera::logmap(const CalibratedCamera& T2) const {
return pose().logmap(T2.pose()) ;
}
CalibratedCamera CalibratedCamera::Expmap(const Vector& v) {
return CalibratedCamera(Pose3::Expmap(v)) ;
}
Vector CalibratedCamera::Logmap(const CalibratedCamera& p) {
return Pose3::Logmap(p.pose()) ;
}
/* ************************************************************************* */
}

9
geometry/CalibratedCamera.h
View File

@ -43,7 +43,14 @@ namespace gtsam {
return CalibratedCamera( pose_.inverse() ) ;
}
inline static size_t dim() { return 6 ; }
CalibratedCamera expmap(const Vector& d) const;
Vector logmap(const CalibratedCamera& T2) const;
static CalibratedCamera Expmap(const Vector& v);
static Vector Logmap(const CalibratedCamera& p);
inline size_t dim() const { return 6 ; }
inline static size_t Dim() { return 6 ; }
/**
* Create a level camera at the given 2D pose and height