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wrapped StereoCamera

release/4.3a0
Chris Beall 2013-07-23 15:32:38 +00:00
parent 0278b0a3b7
commit c27a551634
1 changed files with 29 additions and 1 deletions
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30
gtsam.h
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@ -641,7 +641,7 @@ class Cal3_S2Stereo {
// Testable
void print(string s) const;
bool equals(const gtsam::Cal3_S2Stereo& pose, double tol) const;
bool equals(const gtsam::Cal3_S2Stereo& K, double tol) const;
// Standard Interface
double fx() const;
@ -763,6 +763,34 @@ virtual class PinholeCamera : gtsam::Value {
void serialize() const;
};
virtual class StereoCamera : gtsam::Value {
// Standard Constructors and Named Constructors
StereoCamera();
StereoCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2Stereo* K);
// Testable
void print(string s) const;
bool equals(const gtsam::StereoCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
double baseline() const;
gtsam::Cal3_S2Stereo* calibration() const;
// Manifold
gtsam::StereoCamera retract(const Vector& d) const;
Vector localCoordinates(const gtsam::StereoCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
gtsam::StereoPoint2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::StereoPoint2& p) const;
// enabling serialization functionality
void serialize() const;
};
//*************************************************************************
// inference
//*************************************************************************