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Fix transfer2, add export

release/4.3a0
Frank Dellaert 2024-10-24 00:41:17 -07:00
parent 0431299df6
commit dc23c02be8
1 changed files with 4 additions and 4 deletions
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8
gtsam/geometry/FundamentalMatrix.h
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@ -21,7 +21,7 @@ namespace gtsam {
* classes. The `matrix()` function returns a 3x3 matrix representation of the * classes. The `matrix()` function returns a 3x3 matrix representation of the
* fundamental matrix. * fundamental matrix.
*/ */
class FundamentalMatrix { class GTSAM_EXPORT FundamentalMatrix {
public: public:
/** /**
* @brief Returns a 3x3 matrix representation of the fundamental matrix * @brief Returns a 3x3 matrix representation of the fundamental matrix
@ -65,7 +65,7 @@ struct TripleF {
/// Transfers a point from camera 0,1 to camera 2. /// Transfers a point from camera 0,1 to camera 2.
Point2 transfer2(const Point2& p0, const Point2& p1) { Point2 transfer2(const Point2& p0, const Point2& p1) {
return FundamentalMatrix::transfer(F01.matrix(), p0, return FundamentalMatrix::transfer(F20.matrix(), p0,
F12.matrix().transpose(), p1); F12.matrix().transpose(), p1);
} }
}; };
@ -78,7 +78,7 @@ struct TripleF {
* that describes the relationship between two images. It is parameterized by a * that describes the relationship between two images. It is parameterized by a
* left rotation U, a scalar s, and a right rotation V. * left rotation U, a scalar s, and a right rotation V.
*/ */
class GeneralFundamentalMatrix : public FundamentalMatrix { class GTSAM_EXPORT GeneralFundamentalMatrix : public FundamentalMatrix {
private: private:
Rot3 U_; ///< Left rotation Rot3 U_; ///< Left rotation
double s_; ///< Scalar parameter for S double s_; ///< Scalar parameter for S
@ -146,7 +146,7 @@ class GeneralFundamentalMatrix : public FundamentalMatrix {
* parameterization of the essential matrix and focal lengths for left and right * parameterization of the essential matrix and focal lengths for left and right
* cameras. Principal points are not part of the manifold but a convenience. * cameras. Principal points are not part of the manifold but a convenience.
*/ */
class SimpleFundamentalMatrix : public FundamentalMatrix { class GTSAM_EXPORT SimpleFundamentalMatrix : public FundamentalMatrix {
private: private:
EssentialMatrix E_; ///< Essential matrix EssentialMatrix E_; ///< Essential matrix
double fa_; ///< Focal length for left camera double fa_; ///< Focal length for left camera