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Add some definitions.

release/4.3a0
dellaert 2015-02-20 11:03:47 +01:00
parent 7ecf8ec1ac
commit a27722e03a
1 changed files with 6 additions and 2 deletions
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8
gtsam/geometry/CameraSet.h
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@ -32,7 +32,7 @@ namespace gtsam {
template<class CAMERA> template<class CAMERA>
class CameraSet: public std::vector<CAMERA> { class CameraSet: public std::vector<CAMERA> {
private: protected:
/** /**
* 2D measurement and noise model for each of the m views * 2D measurement and noise model for each of the m views
@ -45,6 +45,10 @@ private:
public: public:
/// Definitions for blocks of F
typedef Eigen::Matrix<double, ZDim, Dim> MatrixZD; // F
typedef std::pair<Key, MatrixZD> FBlock; // Fblocks
/** /**
* print * print
* @param s optional string naming the factor * @param s optional string naming the factor
@ -70,7 +74,7 @@ public:
} }
/** /**
* project, with derivatives in this, point, and calibration * Project a point, with derivatives in this, point, and calibration
* throws CheiralityException * throws CheiralityException
*/ */
std::vector<Z> project(const Point3& point, boost::optional<Matrix&> F = std::vector<Z> project(const Point3& point, boost::optional<Matrix&> F =