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Forgot one is_manifold/dimension

release/4.3a0
dellaert 2014-10-19 00:50:33 +02:00
parent 6e142184cc
commit 768f47174b
1 changed files with 9 additions and 9 deletions
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18
gtsam/geometry/Cal3DS2.h
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@ -46,8 +46,6 @@ protected:
double p1_, p2_ ; // tangential distortion double p1_, p2_ ; // tangential distortion
public: public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 9;
Matrix K() const ; Matrix K() const ;
Eigen::Vector4d k() const { return Eigen::Vector4d(k1_, k2_, p1_, p2_); } Eigen::Vector4d k() const { return Eigen::Vector4d(k1_, k2_, p1_, p2_); }
@ -146,11 +144,9 @@ public:
/// Return dimensions of calibration manifold object /// Return dimensions of calibration manifold object
static size_t Dim() { return 9; } //TODO: make a final dimension variable static size_t Dim() { return 9; } //TODO: make a final dimension variable
private:
/// @} /// @}
/// @name Advanced Interface
/// @{ private:
/** Serialization function */ /** Serialization function */
friend class boost::serialization::access; friend class boost::serialization::access;
@ -170,10 +166,14 @@ private:
ar & BOOST_SERIALIZATION_NVP(p2_); ar & BOOST_SERIALIZATION_NVP(p2_);
} }
/// @}
}; };
template<>
struct is_manifold<Cal3DS2> : public std::true_type {
};
template<>
struct dimension<Cal3DS2> : public std::integral_constant<size_t, 9> {
};
} }