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Added reprojectionErrors back in

release/4.3a0
dellaert 2015-02-23 20:42:48 +01:00
parent 8e615c0ce7
commit d091ed3e83
1 changed files with 5 additions and 0 deletions
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5
gtsam/slam/SmartFactorBase.h
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@ -251,6 +251,11 @@ public:
return 0.5 * b.dot(b); 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 * Compute reprojection errors and derivatives
* TODO: the treatment of body_P_sensor_ is weird: the transformation * TODO: the treatment of body_P_sensor_ is weird: the transformation