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Add Measurement typedef

release/4.3a0
dellaert 2015-02-19 12:24:02 +01:00
parent 454aec4554
commit 370b447e75
2 changed files with 16 additions and 0 deletions
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8
gtsam/geometry/PinholeCamera.h
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@ -32,6 +32,14 @@ namespace gtsam {
template<typename Calibration> template<typename Calibration>
class PinholeCamera { class PinholeCamera {
public:
/**
* Some classes template on either PinholeCamera or StereoCamera,
* and this typedef informs those classes what "project" returns.
*/
typedef Point2 Measurement;
private: private:
Pose3 pose_; Pose3 pose_;
Calibration K_; Calibration K_;

8
gtsam/geometry/StereoCamera.h
View File

@ -38,6 +38,14 @@ public:
*/ */
class GTSAM_EXPORT StereoCamera { class GTSAM_EXPORT StereoCamera {
public:
/**
* Some classes template on either PinholeCamera or StereoCamera,
* and this typedef informs those classes what "project" returns.
*/
typedef StereoPoint2 Measurement;
private: private:
Pose3 leftCamPose_; Pose3 leftCamPose_;
Cal3_S2Stereo::shared_ptr K_; Cal3_S2Stereo::shared_ptr K_;