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add logmap

release/4.3a0
Kai Ni 2010-11-12 05:00:24 +00:00
parent e4673e2cd5
commit f48fdc0909
2 changed files with 10 additions and 3 deletions
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8
gtsam/geometry/Cal3_S2.h
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@ -114,6 +114,7 @@ namespace gtsam {
* return DOF, dimensionality of tangent space * return DOF, dimensionality of tangent space
*/ */
inline size_t dim() const { return 5; } inline size_t dim() const { return 5; }
static size_t Dim() { return 5; }
/** /**
* Given 5-dim tangent vector, create new calibration * Given 5-dim tangent vector, create new calibration
@ -123,6 +124,13 @@ namespace gtsam {
s_ + d(2), u0_ + d(3), v0_ + d(4)); s_ + d(2), u0_ + d(3), v0_ + d(4));
} }
/**
* logmap for the calibration
*/
Vector logmap(const Cal3_S2& T2) const {
return vector() - T2.vector();
}
private: private:
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;

5
gtsam/geometry/GeneralCameraT.h
View File

@ -32,9 +32,8 @@
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/sfm/Cal3Dummy.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/sfm/Cal3Bundler.h> #include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/sfm/Cal3DS2.h>
namespace gtsam { namespace gtsam {