replace Cal3_S2 deprecated matrix() with K(), add Cal3DS2 support to triangulation
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							|  | @ -874,7 +874,7 @@ class Cal3_S2 { | |||
|   double py() const; | ||||
|   gtsam::Point2 principalPoint() const; | ||||
|   Vector vector() const; | ||||
|   Matrix matrix() const; | ||||
|   Matrix K() const; | ||||
|   Matrix matrix_inverse() const; | ||||
| 
 | ||||
|   // enabling serialization functionality
 | ||||
|  | @ -1163,6 +1163,9 @@ class StereoCamera { | |||
| gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, | ||||
|     gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements, | ||||
|     double rank_tol, bool optimize); | ||||
| gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, | ||||
|     gtsam::Cal3DS2* sharedCal, const gtsam::Point2Vector& measurements, | ||||
|     double rank_tol, bool optimize); | ||||
| gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, | ||||
|     gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements, | ||||
|     double rank_tol, bool optimize); | ||||
|  |  | |||
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