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OptionalJacobian is self-documenting. Removing redundant doc makes header shorter/easier to read.

release/4.3a0
dellaert 2015-02-21 11:09:56 +01:00
parent 1114509e98
commit 81b3b896be
2 changed files with 12 additions and 40 deletions
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26
gtsam/geometry/CalibratedCamera.h
View File

@ -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);
}

26
gtsam/geometry/PinholePose.h
View File

@ -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<class CalibrationB>
double range(
const PinholeBaseK<CalibrationB>& camera, //
double range(const PinholeBaseK<CalibrationB>& camera,
OptionalJacobian<1, 6> Dcamera = boost::none,
OptionalJacobian<1, 6> Dother = boost::none) const {
return pose().range(camera.pose(), Dcamera, Dother);