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dimension

release/4.3a0
dellaert 2014-10-07 00:30:42 +02:00
parent 885a9235a6
commit 399bf7c993
3 changed files with 8 additions and 2 deletions
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2
gtsam/geometry/Cal3Bundler.h
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@ -36,6 +36,8 @@ private:
double u0_, v0_; ///< image center, not a parameter to be optimized but a constant
public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 3;
/// @name Standard Constructors
/// @{

3
gtsam/geometry/Cal3DS2.h
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@ -46,6 +46,9 @@ protected:
double p1_, p2_ ; // tangential distortion
public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 9;
Matrix K() const ;
Eigen::Vector4d k() const { return Eigen::Vector4d(k1_, k2_, p1_, p2_); }
Vector vector() const ;

5
gtsam/geometry/Cal3Unified.h
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@ -50,8 +50,9 @@ private:
double xi_; // mirror parameter
public:
//Matrix K() const ;
//Eigen::Vector4d k() const { return Base::k(); }
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 10;
Vector vector() const ;
/// @name Standard Constructors