From 9f3a7617d53f142ae9057791c3192d2d75e3acf3 Mon Sep 17 00:00:00 2001 From: Varun Agrawal Date: Wed, 5 Feb 2020 00:44:50 -0500 Subject: [PATCH] replace Cal3_S2 deprecated matrix() with K(), add Cal3DS2 support to triangulation --- gtsam.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/gtsam.h b/gtsam.h index ae6ed4ac8..60a529541 100644 --- a/gtsam.h +++ b/gtsam.h @@ -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);