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minor re-formatting

release/4.3a0
Luca 2015-03-27 18:40:14 -04:00
parent cdde347350
commit 5ba16dc621
1 changed files with 2 additions and 4 deletions
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6
gtsam/geometry/CalibratedCamera.h
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@ -182,8 +182,7 @@ public:
/// Project a point into the image and check depth
std::pair<Point2, bool> projectSafe(const Point3& pw) const;
/**
* Project point into the image
/** Project point into the image
* Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION
* @param point 3D point in world coordinates
* @return the intrinsic coordinates of the projected point
@ -191,8 +190,7 @@ public:
Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose =
boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const;
/**
* Project point at infinity into the image
/** Project point at infinity into the image
* Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION
* @param point 3D point in world coordinates
* @return the intrinsic coordinates of the projected point