From 81b3b896be64bd7f9829b86a9c9723cf0924fd41 Mon Sep 17 00:00:00 2001 From: dellaert Date: Sat, 21 Feb 2015 11:09:56 +0100 Subject: [PATCH] OptionalJacobian is self-documenting. Removing redundant doc makes header shorter/easier to read. --- gtsam/geometry/CalibratedCamera.h | 26 +++++++------------------- gtsam/geometry/PinholePose.h | 26 +++++--------------------- 2 files changed, 12 insertions(+), 40 deletions(-) diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h index 9cc910f1d..1afbd1417 100644 --- a/gtsam/geometry/CalibratedCamera.h +++ b/gtsam/geometry/CalibratedCamera.h @@ -141,7 +141,6 @@ public: * Project from 3D point in camera coordinates into image * Does *not* throw a CheiralityException, even if pc behind image plane * @param pc point in camera coordinates - * @param Dpoint is the 2*3 Jacobian w.r.t. pc */ static Point2 project_to_camera(const Point3& pc, // OptionalJacobian<2, 3> Dpoint = boost::none); @@ -153,8 +152,6 @@ public: * Project point into the image * Throws a CheiralityException if point behind image plane iff GTSAM_THROW_CHEIRALITY_EXCEPTION * @param point 3D point in world coordinates - * @param Dpose the optionally computed Jacobian with respect to camera - * @param Dpoint the optionally computed Jacobian with respect to the 3D point * @return the intrinsic coordinates of the projected point */ Point2 project2(const Point3& point, OptionalJacobian<2, 6> Dpose = @@ -270,9 +267,8 @@ public: * @deprecated * Use project2, which is more consistently named across Pinhole cameras */ - Point2 project(const Point3& point, - OptionalJacobian<2, 6> Dcamera = boost::none, - OptionalJacobian<2, 3> Dpoint = boost::none) const; + Point2 project(const Point3& point, OptionalJacobian<2, 6> Dcamera = + boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const; /// backproject a 2-dimensional point to a 3-dimensional point at given depth Point3 backproject(const Point2& pn, double depth) const { @@ -282,12 +278,9 @@ public: /** * Calculate range to a landmark * @param point 3D location of landmark - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dpoint the optionally computed Jacobian with respect to the landmark * @return range (double) */ - double range( - const Point3& point, // + double range(const Point3& point, OptionalJacobian<1, 6> Dcamera = boost::none, OptionalJacobian<1, 3> Dpoint = boost::none) const { return pose().range(point, Dcamera, Dpoint); @@ -296,13 +289,9 @@ public: /** * Calculate range to another pose * @param pose Other SO(3) pose - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dpose2 the optionally computed Jacobian with respect to the other pose * @return range (double) */ - double range( - const Pose3& pose, // - OptionalJacobian<1, 6> Dcamera = boost::none, + double range(const Pose3& pose, OptionalJacobian<1, 6> Dcamera = boost::none, OptionalJacobian<1, 6> Dpose = boost::none) const { return this->pose().range(pose, Dcamera, Dpose); } @@ -310,12 +299,11 @@ public: /** * Calculate range to another camera * @param camera Other camera - * @param H1 optionally computed Jacobian with respect to pose - * @param H2 optionally computed Jacobian with respect to the 3D point * @return range (double) */ - double range(const CalibratedCamera& camera, OptionalJacobian<1, 6> H1 = - boost::none, OptionalJacobian<1, 6> H2 = boost::none) const { + double range(const CalibratedCamera& camera, // + OptionalJacobian<1, 6> H1 = boost::none, // + OptionalJacobian<1, 6> H2 = boost::none) const { return pose().range(camera.pose(), H1, H2); } diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h index 5a3b002a1..e3dd98be0 100644 --- a/gtsam/geometry/PinholePose.h +++ b/gtsam/geometry/PinholePose.h @@ -79,8 +79,6 @@ public: /** project a point from world coordinate to the image, fixed Jacobians * @param pw is a point in the world coordinates - * @param Dpose is the Jacobian w.r.t. pose - * @param Dpoint is the Jacobian w.r.t. pw */ Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none, OptionalJacobian<2, 3> Dpoint = boost::none) const { @@ -118,12 +116,9 @@ public: /** * Calculate range to a landmark * @param point 3D location of landmark - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dpoint the optionally computed Jacobian with respect to the landmark * @return range (double) */ - double range( - const Point3& point, // + double range(const Point3& point, OptionalJacobian<1, 6> Dcamera = boost::none, OptionalJacobian<1, 3> Dpoint = boost::none) const { return pose().range(point, Dcamera, Dpoint); @@ -132,13 +127,9 @@ public: /** * Calculate range to another pose * @param pose Other SO(3) pose - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dpose2 the optionally computed Jacobian with respect to the other pose * @return range (double) */ - double range( - const Pose3& pose, // - OptionalJacobian<1, 6> Dcamera = boost::none, + double range(const Pose3& pose, OptionalJacobian<1, 6> Dcamera = boost::none, OptionalJacobian<1, 6> Dpose = boost::none) const { return this->pose().range(pose, Dcamera, Dpose); } @@ -146,27 +137,20 @@ public: /** * Calculate range to a CalibratedCamera * @param camera Other camera - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dother the optionally computed Jacobian with respect to the other camera * @return range (double) */ - double range( - const CalibratedCamera& camera, // - OptionalJacobian<1, 6> Dcamera = boost::none, - OptionalJacobian<1, 6> Dother = boost::none) const { + double range(const CalibratedCamera& camera, OptionalJacobian<1, 6> Dcamera = + boost::none, OptionalJacobian<1, 6> Dother = boost::none) const { return pose().range(camera.pose(), Dcamera, Dother); } /** * Calculate range to a PinholePoseK derived class * @param camera Other camera - * @param Dcamera the optionally computed Jacobian with respect to pose - * @param Dother the optionally computed Jacobian with respect to the other camera * @return range (double) */ template - double range( - const PinholeBaseK& camera, // + double range(const PinholeBaseK& camera, OptionalJacobian<1, 6> Dcamera = boost::none, OptionalJacobian<1, 6> Dother = boost::none) const { return pose().range(camera.pose(), Dcamera, Dother);