12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fix: some name conflicts. Change calibrate with optional jacobian to calibrate2

release/4.3a0
lvzhaoyang 2015-06-23 02:23:36 -04:00
parent 1c3ab0ce30
commit a37f81fed7
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/geometry/Cal3_S2.cpp
View File

@ -90,14 +90,14 @@ Point2 Cal3_S2::calibrate(const Point2& p) const {
}
/* ************************************************************************* */
Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2,5> Dcal,
OptionalJacobian<2,2> Dp) const {
Point2 Cal3_S2::calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal,
OptionalJacobian<2,2> Dp) const {
const double u = p.x(), v = p.y();
double delta_u = u - u0_, delta_v = v - v0_;
double inv_fx = 1/ fx_, inv_fy = 1/fy_;
if(Dcal)
*Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) ,
inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v,
*Dcal << - inv_fx * inv_fx * (delta_u - s_ * inv_fy * delta_v) ,
inv_fx * (s_ * inv_fy * inv_fy) * delta_v, -inv_fx * inv_fy * delta_v,
-inv_fx, inv_fx * s_ * inv_fy,
0, -inv_fy * inv_fy * delta_v, 0, 0, -inv_fy;
if(Dp)

2
gtsam/geometry/Cal3_S2.h
View File

@ -167,7 +167,7 @@ public:
* @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
* @return point in intrinsic coordinates
*/
Point2 calibrate(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
Point2 calibrate2(const Point2& p, OptionalJacobian<2,5> Dcal = boost::none,
OptionalJacobian<2,2> Dp = boost::none) const;
/**