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Add ambiguous calibrate/uncalibrate declarations. 

Without declaring calibrate / uncalibrated in the interface specification, the functions of the Base class Cal3DS2_Base is called.
The layout of the optional Jacobian matrix is 2x10 in Cal3Unified and 2x9 in Cal3DS2_Base, so this are different function calls.
release/4.3a0
roderick-koehle 2021-07-10 22:03:17 +02:00 committed by GitHub
parent 03049929a5
commit d54e234f93
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1 changed files with 6 additions and 0 deletions
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gtsam/gtsam.i
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@ -910,6 +910,12 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
gtsam::Cal3Unified retract(Vector v) const; gtsam::Cal3Unified retract(Vector v) const;
Vector localCoordinates(const gtsam::Cal3Unified& c) const; Vector localCoordinates(const gtsam::Cal3Unified& c) const;
// Action on Point2
// Note: the signature of this functions differ from the functions
// with equal name in the base class.
gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;