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K() -> calibration()

release/4.3a0
Chris Beall 2011-03-11 18:48:42 +00:00
parent 38922a38ac
commit dbe7093f4d
2 changed files with 4 additions and 4 deletions
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4
gtsam/geometry/StereoCamera.cpp
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@ -42,7 +42,7 @@ StereoPoint2 StereoCamera::project(const Point3& point,
Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose; Matrix D_intrinsic_pose = D_intrinsic_cameraPoint * D_cameraPoint_pose;
Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3 Matrix D_projection_intrinsic = Duncalibrate2(calibration()); // 3x3
*Dproject_stereo_pose = D_projection_intrinsic * D_intrinsic_pose; *Dproject_stereo_pose = D_projection_intrinsic * D_intrinsic_pose;
} }
@ -54,7 +54,7 @@ StereoPoint2 StereoCamera::project(const Point3& point,
Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian Matrix D_intrinsic_cameraPoint = Dproject_to_stereo_camera1(cameraPoint); // 3x3 Jacobian
Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point; Matrix D_intrinsic_point = D_intrinsic_cameraPoint * D_cameraPoint_point;
Matrix D_projection_intrinsic = Duncalibrate2(K()); // 3x3 Matrix D_projection_intrinsic = Duncalibrate2(calibration()); // 3x3
*Dproject_stereo_point = D_projection_intrinsic * D_intrinsic_point; *Dproject_stereo_point = D_projection_intrinsic * D_intrinsic_point;
} }

4
gtsam/geometry/StereoCamera.h
View File

@ -40,7 +40,7 @@ namespace gtsam {
StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo& K); StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo& K);
const Cal3_S2Stereo& K() const { const Cal3_S2Stereo& calibration() const {
return K_; return K_;
} }
@ -63,7 +63,7 @@ namespace gtsam {
/** Exponential map around p0 */ /** Exponential map around p0 */
inline StereoCamera expmap(const Vector& d) const { inline StereoCamera expmap(const Vector& d) const {
return StereoCamera(pose().expmap(d),K()); return StereoCamera(pose().expmap(d),calibration());
} }
Vector logmap(const StereoCamera &camera) const { Vector logmap(const StereoCamera &camera) const {