Added reprojectionErrors back in

2015-02-23 20:42:48 +01:00 · 2015-02-23 20:42:48 +01:00 · d091ed3e83
parent 8e615c0ce7
commit d091ed3e83
1 changed files with 5 additions and 0 deletions
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@ -251,6 +251,11 @@ public:
    return 0.5 * b.dot(b);
  }

+  /// Compute reprojection errors
+  Vector reprojectionErrors(const Cameras& cameras, const Point3& point) const {
+    return cameras.reprojectionErrors(point, measured_);
+  }
+
  /**
   *  Compute reprojection errors and derivatives
   *  TODO: the treatment of body_P_sensor_ is weird: the transformation