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change 'world' to 'point'

release/4.3a0
zhaoyang 2015-06-12 17:27:36 -04:00
parent 3d18d70d69
commit abe6b9cec6
1 changed files with 4 additions and 4 deletions
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8
gtsam/geometry/StereoCamera.cpp
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@ -91,8 +91,8 @@ namespace gtsam {
double Z = K_->baseline() * K_->fx() / (measured[0] - measured[1]); double Z = K_->baseline() * K_->fx() / (measured[0] - measured[1]);
double X = Z * (measured[0] - K_->px()) / K_->fx(); double X = Z * (measured[0] - K_->px()) / K_->fx();
double Y = Z * (measured[2] - K_->py()) / K_->fy(); double Y = Z * (measured[2] - K_->py()) / K_->fy();
Point3 world = leftCamPose_.transform_from(Point3(X, Y, Z)); Point3 point = leftCamPose_.transform_from(Point3(X, Y, Z));
return world; return point;
} }
/* ************************************************************************* */ /* ************************************************************************* */
@ -117,13 +117,13 @@ namespace gtsam {
-z_partial_uR, z_partial_uR, 0; -z_partial_uR, z_partial_uR, 0;
Matrix3 D_point_local; Matrix3 D_point_local;
const Point3 world = leftCamPose_.transform_from(local, H1, D_point_local); const Point3 point = leftCamPose_.transform_from(local, H1, D_point_local);
if(H2) { if(H2) {
*H2 = D_point_local * D_local_z; *H2 = D_point_local * D_local_z;
} }
return world; return point;
} }
return leftCamPose_.transform_from(local); return leftCamPose_.transform_from(local);