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Added two specializations for matlab wrapper

release/4.3a0
dellaert 2015-07-12 22:48:54 -07:00
parent 59c258623a
commit 6bb5b03c7a
1 changed files with 22 additions and 2 deletions
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24
gtsam/geometry/SimpleCamera.h
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@ -133,6 +133,26 @@ template<>
struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> { struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {
}; };
/// Recover camera from 3*4 camera matrix template <>
GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P); struct Range<SimpleCamera, Point3> {
typedef double result_type;
double operator()(const SimpleCamera& camera, const Point3& point,
OptionalJacobian<1, 11> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none) {
return camera.range(point, H1, H2);
}
};
template <>
struct Range<SimpleCamera, SimpleCamera> {
typedef double result_type;
double operator()(const SimpleCamera& camera, const SimpleCamera& sc,
OptionalJacobian<1, 11> H1 = boost::none,
OptionalJacobian<1, 11> H2 = boost::none) {
return camera.range(sc, H1, H2);
}
};
/// Recover camera from 3*4 camera matrix
GTSAM_EXPORT SimpleCamera simpleCamera(const Matrix34& P);
} }