Little things
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				|  | @ -249,12 +249,12 @@ public: | |||
|   /// Return canonical coordinate
 | ||||
|   Vector localCoordinates(const CalibratedCamera& T2) const; | ||||
| 
 | ||||
|   /// Lie group dimensionality
 | ||||
|   /// @deprecated
 | ||||
|   inline size_t dim() const { | ||||
|     return 6; | ||||
|   } | ||||
| 
 | ||||
|   /// Lie group dimensionality
 | ||||
|   /// @deprecated
 | ||||
|   inline static size_t Dim() { | ||||
|     return 6; | ||||
|   } | ||||
|  |  | |||
|  | @ -22,7 +22,6 @@ | |||
| #include <gtsam/geometry/CalibratedCamera.h> | ||||
| #include <gtsam/geometry/Point2.h> | ||||
| #include <boost/make_shared.hpp> | ||||
| #include <cmath> | ||||
| 
 | ||||
| namespace gtsam { | ||||
| 
 | ||||
|  | @ -34,7 +33,9 @@ namespace gtsam { | |||
| template<typename Calibration> | ||||
| class GTSAM_EXPORT PinholeBaseK: public PinholeBase { | ||||
| 
 | ||||
| public: | ||||
|   GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration) | ||||
| 
 | ||||
| public  : | ||||
| 
 | ||||
|   /// @name Standard Constructors
 | ||||
|   /// @{
 | ||||
|  | @ -45,7 +46,7 @@ public: | |||
| 
 | ||||
|   /** constructor with pose */ | ||||
|   explicit PinholeBaseK(const Pose3& pose) : | ||||
|       PinholeBase(pose) { | ||||
|   PinholeBase(pose) { | ||||
|   } | ||||
| 
 | ||||
|   /// @}
 | ||||
|  | @ -53,7 +54,7 @@ public: | |||
|   /// @{
 | ||||
| 
 | ||||
|   explicit PinholeBaseK(const Vector &v) : | ||||
|       PinholeBase(v) { | ||||
|   PinholeBase(v) { | ||||
|   } | ||||
| 
 | ||||
|   /// @}
 | ||||
|  | @ -92,10 +93,8 @@ public: | |||
|         Dpose || Dpoint ? &Dpi_pn : 0); | ||||
| 
 | ||||
|     // If needed, apply chain rule
 | ||||
|     if (Dpose) | ||||
|       *Dpose = Dpi_pn * *Dpose; | ||||
|     if (Dpoint) | ||||
|       *Dpoint = Dpi_pn * *Dpoint; | ||||
|     if (Dpose) *Dpose = Dpi_pn * (*Dpose); | ||||
|     if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint); | ||||
| 
 | ||||
|     return pi; | ||||
|   } | ||||
|  | @ -246,10 +245,12 @@ public: | |||
|   /// @name Advanced Constructors
 | ||||
|   /// @{
 | ||||
| 
 | ||||
|   /// Init from 6D vector
 | ||||
|   explicit PinholePose(const Vector &v) : | ||||
|       Base(v), K_(new Calibration()) { | ||||
|   } | ||||
| 
 | ||||
|   /// Init from Vector and calibration
 | ||||
|   PinholePose(const Vector &v, const Vector &K) : | ||||
|       Base(v), K_(new Calibration(K)) { | ||||
|   } | ||||
|  | @ -286,25 +287,23 @@ public: | |||
|   /// @name Manifold
 | ||||
|   /// @{
 | ||||
| 
 | ||||
|   /// Manifold 6
 | ||||
|   /// @deprecated
 | ||||
|   size_t dim() const { | ||||
|     return 6; | ||||
|   } | ||||
| 
 | ||||
|   /// Manifold 6
 | ||||
|   /// @deprecated
 | ||||
|   static size_t Dim() { | ||||
|     return 6; | ||||
|   } | ||||
| 
 | ||||
|   typedef Eigen::Matrix<double, 6, 1> VectorK6; | ||||
| 
 | ||||
|   /// move a cameras according to d
 | ||||
|   PinholePose retract(const Vector6& d) const { | ||||
|     return PinholePose(Base::pose().retract(d), K_); | ||||
|   } | ||||
| 
 | ||||
|   /// return canonical coordinate
 | ||||
|   VectorK6 localCoordinates(const PinholePose& p) const { | ||||
|   Vector6 localCoordinates(const PinholePose& p) const { | ||||
|     return Base::pose().localCoordinates(p.Base::pose()); | ||||
|   } | ||||
| 
 | ||||
|  |  | |||
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