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Added Jacobians for all calibrations

release/4.3a0
Fan Jiang 2022-04-17 16:50:07 -04:00
parent 807d63c7bf
commit e6420cfcb7
1 changed files with 24 additions and 0 deletions
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24
gtsam/geometry/geometry.i
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@ -584,7 +584,13 @@ class Cal3_S2 {
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 calibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
// Standard Interface // Standard Interface
double fx() const; double fx() const;
@ -686,7 +692,13 @@ virtual class Cal3Unified : gtsam::Cal3DS2_Base {
// Note: the signature of this functions differ from the functions // Note: the signature of this functions differ from the functions
// with equal name in the base class. // with equal name in the base class.
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 calibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -712,7 +724,13 @@ class Cal3Fisheye {
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 calibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
// Standard Interface // Standard Interface
double fx() const; double fx() const;
@ -775,7 +793,13 @@ class Cal3Bundler {
// Action on Point2 // Action on Point2
gtsam::Point2 calibrate(const gtsam::Point2& p) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
gtsam::Point2 calibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
gtsam::Point2 uncalibrate(const gtsam::Point2& p,
Eigen::Ref<Eigen::MatrixXd> Dcal,
Eigen::Ref<Eigen::MatrixXd> Dp) const;
// Standard Interface // Standard Interface
double fx() const; double fx() const;