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put the jacobians at the end so that the calibrate function can be wrapped

release/4.3a0
Varun Agrawal 2020-09-23 10:45:57 -04:00
parent 3fab304191
commit 611974c63a
2 changed files with 7 additions and 7 deletions
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6
gtsam/geometry/Cal3Bundler.cpp
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@ -94,9 +94,9 @@ Point2 Cal3Bundler::uncalibrate(const Point2& p, //
} }
/* ************************************************************************* */ /* ************************************************************************* */
Point2 Cal3Bundler::calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal, Point2 Cal3Bundler::calibrate(const Point2& pi, const double tol,
OptionalJacobian<2, 2> Dp, OptionalJacobian<2, 3> Dcal,
const double tol) const { OptionalJacobian<2, 2> Dp) const {
// Copied from Cal3DS2 :-( // Copied from Cal3DS2 :-(
// but specialized with k1,k2 non-zero only and fx=fy and s=0 // but specialized with k1,k2 non-zero only and fx=fy and s=0
const Point2 invKPi((pi.x() - u0_)/f_, (pi.y() - v0_)/f_); const Point2 invKPi((pi.x() - u0_)/f_, (pi.y() - v0_)/f_);

8
gtsam/geometry/Cal3Bundler.h
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@ -120,14 +120,14 @@ public:
/** /**
* Convert a pixel coordinate to ideal coordinate xy * Convert a pixel coordinate to ideal coordinate xy
* @param p point in image coordinates * @param p point in image coordinates
* @param tol optional tolerance threshold value for iterative minimization
* @param Dcal optional 2*3 Jacobian wrpt Cal3Bundler parameters * @param Dcal optional 2*3 Jacobian wrpt Cal3Bundler parameters
* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
* @param tol optional tolerance threshold value for iterative minimization
* @return point in intrinsic coordinates * @return point in intrinsic coordinates
*/ */
Point2 calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal = boost::none, Point2 calibrate(const Point2& pi, const double tol = 1e-5,
OptionalJacobian<2, 2> Dp = boost::none, OptionalJacobian<2, 3> Dcal = boost::none,
const double tol = 1e-5) const; OptionalJacobian<2, 2> Dp = boost::none) const;
/// @deprecated might be removed in next release, use uncalibrate /// @deprecated might be removed in next release, use uncalibrate
Matrix2 D2d_intrinsic(const Point2& p) const; Matrix2 D2d_intrinsic(const Point2& p) const;