add interface for vSLAM

borglab · Sep 19, 2010 · 3a11ec9 · 3a11ec9
1 parent 14cb0be
commit 3a11ec9
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Showing 2 changed files with 25 additions and 1 deletion.
diff --git a/geometry/CalibratedCamera.cpp b/geometry/CalibratedCamera.cpp
@@ -65,5 +65,22 @@ namespace gtsam {
 		}
 		return project_to_camera(q);
 	}
+
+
+	CalibratedCamera CalibratedCamera::expmap(const Vector& d) const {
+		return CalibratedCamera(pose().expmap(d)) ;
+	}
+    Vector CalibratedCamera::logmap(const CalibratedCamera& T2) const {
+    	return pose().logmap(T2.pose()) ;
+    }
+
+	CalibratedCamera CalibratedCamera::Expmap(const Vector& v) {
+		return CalibratedCamera(Pose3::Expmap(v)) ;
+	}
+
+    Vector CalibratedCamera::Logmap(const CalibratedCamera& p) {
+    	return Pose3::Logmap(p.pose()) ;
+    }
+
 /* ************************************************************************* */
 }
diff --git a/geometry/CalibratedCamera.h b/geometry/CalibratedCamera.h
@@ -43,7 +43,14 @@ namespace gtsam {
 			return CalibratedCamera( pose_.inverse() ) ;
 		}
 
-		inline static size_t dim() { return 6 ; }
+		CalibratedCamera expmap(const Vector& d) const;
+	    Vector logmap(const CalibratedCamera& T2) const;
+
+		static CalibratedCamera Expmap(const Vector& v);
+	    static Vector Logmap(const CalibratedCamera& p);
+
+		inline size_t dim() const { return 6 ; }
+		inline static size_t Dim() { return 6 ; }
 
 		/**
 		 * Create a level camera at the given 2D pose and height