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Moved project2 to its rightful place in PinholePose (as opposed to PinholeBaseK)

release/4.3a0
dellaert 2015-03-05 19:34:34 -08:00
parent 4a6801cfe1
commit 95e00d3052
1 changed files with 21 additions and 21 deletions
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42
gtsam/geometry/PinholePose.h
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@ -95,27 +95,6 @@ public:
return calibration().uncalibrate(pn); return calibration().uncalibrate(pn);
} }
/** project a point from world coordinate to the image, w 2 derivatives
* @param pw is a point in the world coordinates
*/
Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none,
OptionalJacobian<2, 3> Dpoint = boost::none) const {
// project to normalized coordinates
const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint);
// uncalibrate to pixel coordinates
Matrix2 Dpi_pn;
const Point2 pi = calibration().uncalibrate(pn, boost::none,
Dpose || Dpoint ? &Dpi_pn : 0);
// If needed, apply chain rule
if (Dpose) *Dpose = Dpi_pn * (*Dpose);
if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint);
return pi;
}
/** project a point at infinity from world coordinate to the image /** project a point at infinity from world coordinate to the image
* @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf) * @param pw is a point in the world coordinate (it is pw = lambda*[pw_x pw_y pw_z] with lambda->inf)
* @param Dpose is the Jacobian w.r.t. pose3 * @param Dpose is the Jacobian w.r.t. pose3
@ -344,6 +323,27 @@ public:
return *K_; return *K_;
} }
/** project a point from world coordinate to the image, w 2 derivatives
* @param pw is a point in the world coordinates
*/
Point2 project2(const Point3& pw, OptionalJacobian<2, 6> Dpose = boost::none,
OptionalJacobian<2, 3> Dpoint = boost::none) const {
// project to normalized coordinates
const Point2 pn = PinholeBase::project2(pw, Dpose, Dpoint);
// uncalibrate to pixel coordinates
Matrix2 Dpi_pn;
const Point2 pi = calibration().uncalibrate(pn, boost::none,
Dpose || Dpoint ? &Dpi_pn : 0);
// If needed, apply chain rule
if (Dpose) *Dpose = Dpi_pn * (*Dpose);
if (Dpoint) *Dpoint = Dpi_pn * (*Dpoint);
return pi;
}
/// @} /// @}
/// @name Manifold /// @name Manifold
/// @{ /// @{