From be3d39b3955dc15ee4331614e7c2a42b66745424 Mon Sep 17 00:00:00 2001
From: dellaert <dellaert@cc.gatech.edu>
Date: Tue, 7 Oct 2014 00:31:48 +0200
Subject: [PATCH] Documentation

---
 gtsam/geometry/Cal3_S2.h | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h
index 45ef782d7..4e17c64f4 100644
--- a/gtsam/geometry/Cal3_S2.h
+++ b/gtsam/geometry/Cal3_S2.h
@@ -146,6 +146,23 @@ public:
   /**
    * convert intrinsic coordinates xy to image coordinates uv
    * @param p point in intrinsic coordinates
+   * @return point in image coordinates
+   */
+  Point2 uncalibrate(const Point2& p) const;
+
+  /**
+   * convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves
+   * @param p point in intrinsic coordinates
+   * @param Dcal optional 2*5 Jacobian wrpt Cal3_S2 parameters
+   * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
+   * @return point in image coordinates
+   */
+  Point2 uncalibrate(const Point2& p, boost::optional<Matrix25&> Dcal,
+      boost::optional<Matrix2&> Dp) const;
+
+  /**
+   * convert intrinsic coordinates xy to image coordinates uv, dynamic derivaitves
+   * @param p point in intrinsic coordinates
    * @param Dcal optional 2*5 Jacobian wrpt Cal3_S2 parameters
    * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
    * @return point in image coordinates
@@ -153,11 +170,6 @@ public:
   Point2 uncalibrate(const Point2& p, boost::optional<Matrix&> Dcal,
       boost::optional<Matrix&> Dp) const;
 
-  Point2 uncalibrate(const Point2& p, boost::optional<Matrix25&> Dcal,
-      boost::optional<Matrix2&> Dp) const;
-
-  Point2 uncalibrate(const Point2& p) const;
-
   /**
    * convert image coordinates uv to intrinsic coordinates xy
    * @param p point in image coordinates