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replace Cal3_S2 deprecated matrix() with K(), add Cal3DS2 support to triangulation

release/4.3a0
Varun Agrawal 2020-02-05 00:44:50 -05:00
parent 2668eef4e7
commit 9f3a7617d5
1 changed files with 4 additions and 1 deletions
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5
gtsam.h
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@ -874,7 +874,7 @@ class Cal3_S2 {
double py() const; double py() const;
gtsam::Point2 principalPoint() const; gtsam::Point2 principalPoint() const;
Vector vector() const; Vector vector() const;
Matrix matrix() const; Matrix K() const;
Matrix matrix_inverse() const; Matrix matrix_inverse() const;
// enabling serialization functionality // enabling serialization functionality
@ -1163,6 +1163,9 @@ class StereoCamera {
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses, gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements, gtsam::Cal3_S2* sharedCal, const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize); 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::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements, gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize); double rank_tol, bool optimize);