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This seems to work perfectly (compiles, at least)

release/4.3a0
dellaert 2014-11-27 22:50:37 +01:00
parent ec93e0a885
commit a6b4823203
2 changed files with 8 additions and 8 deletions
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6
gtsam/geometry/Cal3_S2.h
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@ -23,6 +23,7 @@
#include <gtsam/base/DerivedValue.h> #include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h> #include <gtsam/geometry/Point2.h>
#include <boost/optional.hpp>
namespace gtsam { namespace gtsam {
@ -57,6 +58,11 @@ public:
empty_(true), map_(NULL) { empty_(true), map_(NULL) {
} }
/// Defdault constructo acts like boost::none
FixedRef(boost::none_t none) :
empty_(true), map_(NULL) {
}
/// Constructor that will usurp data of a fixed size matrix /// Constructor that will usurp data of a fixed size matrix
FixedRef(Fixed& fixed) : FixedRef(Fixed& fixed) :
empty_(false), map_(NULL) { empty_(false), map_(NULL) {

10
gtsam/geometry/PinholeCamera.h
View File

@ -381,13 +381,7 @@ public:
} }
return pi; return pi;
} else } else
if (Dcal) { return K_.uncalibrate(pn, Dcal);
JacobianK fixedDcal;
const Point2 pi = K_.uncalibrate(pn, fixedDcal);
*Dcal = fixedDcal;
return pi;
} else
return K_.uncalibrate(pn);
} }
/** project a point at infinity from world coordinate to the image /** project a point at infinity from world coordinate to the image
@ -400,7 +394,7 @@ public:
const Point3& pw, // const Point3& pw, //
boost::optional<Matrix&> Dpose = boost::none, boost::optional<Matrix&> Dpose = boost::none,
boost::optional<Matrix&> Dpoint = boost::none, boost::optional<Matrix&> Dpoint = boost::none,
boost::optional<Matrix25&> Dcal = boost::none) const { boost::optional<Matrix&> Dcal = boost::none) const {
if (!Dpose && !Dpoint && !Dcal) { if (!Dpose && !Dpoint && !Dcal) {
const Point3 pc = pose_.rotation().unrotate(pw); // get direction in camera frame (translation does not matter) const Point3 pc = pose_.rotation().unrotate(pw); // get direction in camera frame (translation does not matter)