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Small fixes to make it actually work in Matlab

release/4.3a0
cbeall3 2015-05-20 13:30:36 -04:00
parent f8ab4ef144
commit bf026eb33d
2 changed files with 15 additions and 4 deletions
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5
gtsam.h
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@ -861,7 +861,7 @@ class PinholeCamera {
void serialize() const; void serialize() const;
}; };
class SimpleCamera { virtual class SimpleCamera {
// Standard Constructors and Named Constructors // Standard Constructors and Named Constructors
SimpleCamera(); SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose); SimpleCamera(const gtsam::Pose3& pose);
@ -898,7 +898,8 @@ class SimpleCamera {
}; };
// Do typedefs here so we can also define SimpleCamera // Some typedefs for common camera types
// 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; typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified; typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;

14
gtsam/geometry/SimpleCamera.h
View File

@ -24,10 +24,16 @@
namespace gtsam { namespace gtsam {
/// A simple camera class with a Cal3_S2 calibration /// A simple camera class with a Cal3_S2 calibration
// typedef PinholeCamera<Cal3_S2> SimpleCamera; typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
class SimpleCamera : public PinholeCamera<Cal3_S2> {
/**
* @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
* Use PinholeCameraCal3_S2 instead
*/
class SimpleCamera : public PinholeCameraCal3_S2 {
typedef PinholeCamera<Cal3_S2> Base; typedef PinholeCamera<Cal3_S2> Base;
typedef boost::shared_ptr<SimpleCamera> shared_ptr;
public: public:
@ -98,6 +104,10 @@ public:
Base(v, K) { Base(v, K) {
} }
/// Copy this object as its actual derived type.
SimpleCamera::shared_ptr clone() const { return boost::make_shared<SimpleCamera>(*this); }
/// @} /// @}
/// @name Manifold /// @name Manifold
/// @{ /// @{