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

remove some wrapping terms to fix toolbox compile

release/4.3a0
Jing Dong 2018-06-19 01:00:20 -04:00
parent 1a3a938336
commit bbe30c31bb
1 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam.h
View File

@ -969,9 +969,10 @@ virtual class SimpleCamera {
// Some typedefs for common camera types // Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above // PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2; typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2; // due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified; //typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler; //typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
//typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
#include <gtsam/geometry/StereoCamera.h> #include <gtsam/geometry/StereoCamera.h>
class StereoCamera { class StereoCamera {
@ -2337,7 +2338,8 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
gtsam::Point2 measured() const; gtsam::Point2 measured() const;
}; };
typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2; typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2; // due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
template<CALIBRATION = {gtsam::Cal3_S2}> template<CALIBRATION = {gtsam::Cal3_S2}>
virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor { virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {