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fixed all. Cant deal with conservative resize becaue this is dependent on the template dimension. Maybe OptionalJacobian<3,dimK> or somehting like that ?

release/4.3a0
nsrinivasan7 2014-12-02 14:20:23 -05:00
parent 7138263d85
commit a8c1510343
1 changed files with 4 additions and 4 deletions
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8
gtsam/geometry/PinholeCamera.h
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@ -428,8 +428,8 @@ public:
*/
double range(
const Point3& point, //
boost::optional<Matrix&> Dpose = boost::none,
boost::optional<Matrix&> Dpoint = boost::none) const {
OptionalJacobian<1,6> Dpose = boost::none,
OptionalJacobian<1,3> Dpoint = boost::none) const {
double result = pose_.range(point, Dpose, Dpoint);
if (Dpose) {
// Add columns of zeros to Jacobian for calibration
@ -500,8 +500,8 @@ public:
*/
double range(
const CalibratedCamera& camera, //
boost::optional<Matrix&> Dpose = boost::none,
boost::optional<Matrix&> Dother = boost::none) const {
OptionalJacobian<1,6> Dpose = boost::none,
OptionalJacobian<1,6> Dother = boost::none) const {
return pose_.range(camera.pose_, Dpose, Dother);
}