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Added specializations of insert, as well as Cal3Bundler

release/4.3a0
dellaert 2014-11-10 18:06:09 +01:00
parent 2946bcdc82
commit 8638c74e35
1 changed files with 54 additions and 0 deletions
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54
gtsam.h
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@ -705,6 +705,42 @@ class Cal3_S2Stereo {
double baseline() const; double baseline() const;
}; };
#include <gtsam/geometry/Cal3Bundler.h>
class Cal3Bundler {
// Standard Constructors
Cal3Bundler();
Cal3Bundler(double fx, double k1, double k2, double u0, double v0);
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3Bundler& rhs, double tol) const;
// Manifold
static size_t Dim();
size_t dim() const;
gtsam::Cal3Bundler retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3Bundler& c) const;
// Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
// Standard Interface
double fx() const;
double fy() const;
double k1() const;
double k2() const;
double u0() const;
double v0() const;
Vector vector() const;
Vector k() const;
//Matrix K() const; //FIXME: Uppercase
// enabling serialization functionality
void serialize() const;
};
class CalibratedCamera { class CalibratedCamera {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
CalibratedCamera(); CalibratedCamera();
@ -1691,8 +1727,26 @@ class Values {
// Instead of the old: // Instead of the old:
// void insert(size_t j, const gtsam::Value& value); // void insert(size_t j, const gtsam::Value& value);
// void update(size_t j, const gtsam::Value& val); // void update(size_t j, const gtsam::Value& val);
void insert(size_t j, const gtsam::Point2& t);
void update(size_t j, const gtsam::Point2& t);
void insert(size_t j, const gtsam::Point3& t);
void update(size_t j, const gtsam::Point3& t);
void insert(size_t j, const gtsam::Rot2& t);
void update(size_t j, const gtsam::Rot2& t);
void insert(size_t j, const gtsam::Pose2& t); void insert(size_t j, const gtsam::Pose2& t);
void update(size_t j, const gtsam::Pose2& t); void update(size_t j, const gtsam::Pose2& t);
void insert(size_t j, const gtsam::Rot3& t);
void update(size_t j, const gtsam::Rot3& t);
void insert(size_t j, const gtsam::Pose3& t);
void update(size_t j, const gtsam::Pose3& t);
void insert(size_t j, const gtsam::Cal3_S2& t);
void update(size_t j, const gtsam::Cal3_S2& t);
void insert(size_t j, const gtsam::Cal3DS2& t);
void update(size_t j, const gtsam::Cal3DS2& t);
void insert(size_t j, const gtsam::Cal3Bundler& t);
void update(size_t j, const gtsam::Cal3Bundler& t);
void insert(size_t j, const gtsam::EssentialMatrix& t);
void update(size_t j, const gtsam::EssentialMatrix& t);
// But it would be nice if this worked: // But it would be nice if this worked:
// template<class T = { // template<class T = {