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release/4.3a0
dellaert 2014-10-07 00:31:48 +02:00
parent e289539312
commit be3d39b395
1 changed files with 17 additions and 5 deletions
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22
gtsam/geometry/Cal3_S2.h
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@ -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