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make calibration interface uniform, matrix --> K

release/4.3a0
Chris Beall 2013-10-15 20:12:36 +00:00
parent aa3729b098
commit 796e15e7bd
1 changed files with 6 additions and 1 deletions
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7
gtsam/geometry/Cal3_S2.h
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@ -125,10 +125,15 @@ public:
} }
/// return calibration matrix K /// return calibration matrix K
Matrix matrix() const { Matrix K() const {
return Matrix_(3, 3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0); return Matrix_(3, 3, fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0);
} }
/** @deprecated The following function has been deprecated, use K above */
Matrix matrix() const {
return K();
}
/// return inverted calibration matrix inv(K) /// return inverted calibration matrix inv(K)
Matrix matrix_inverse() const { Matrix matrix_inverse() const {
const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_; const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_;