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Little things

release/4.3a0
dellaert 2015-02-21 11:47:59 +01:00
parent 81b3b896be
commit 5ed2abd292
2 changed files with 14 additions and 15 deletions
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4
gtsam/geometry/CalibratedCamera.h
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@ -249,12 +249,12 @@ public:
/// Return canonical coordinate /// Return canonical coordinate
Vector localCoordinates(const CalibratedCamera& T2) const; Vector localCoordinates(const CalibratedCamera& T2) const;
/// Lie group dimensionality /// @deprecated
inline size_t dim() const { inline size_t dim() const {
return 6; return 6;
} }
/// Lie group dimensionality /// @deprecated
inline static size_t Dim() { inline static size_t Dim() {
return 6; return 6;
} }

19
gtsam/geometry/PinholePose.h
View File

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