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labrobotica
algorithms
vision_utils
Commits
7214a887
Commit
7214a887
authored
7 years ago
by
Joan Solà Ortega
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Add more template params
parent
852f192b
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1 changed file
src/common_class/trifocaltensor.h
+5
-5
5 additions, 5 deletions
src/common_class/trifocaltensor.h
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5 additions
and
5 deletions
src/common_class/trifocaltensor.h
+
5
−
5
View file @
7214a887
...
...
@@ -637,13 +637,13 @@ typedef std::weak_ptr<TrifocalTensor> TrifocalTensorWPtr;
namespace
vision_utils
{
// TRILINEARITY PLP
template
<
typename
D1
,
class
T
,
typename
D
2
,
typename
D
3
>
template
<
typename
D1
,
typename
D2
,
typename
D3
,
class
T
,
typename
D
4
,
typename
D
5
>
void
errorTrifocalPLP
(
const
Eigen
::
MatrixBase
<
D1
>&
_m1
,
const
Eigen
::
MatrixBase
<
D
1
>&
_m2
,
const
Eigen
::
MatrixBase
<
D
1
>&
_m3
,
const
Eigen
::
MatrixBase
<
D
2
>&
_m2
,
const
Eigen
::
MatrixBase
<
D
3
>&
_m3
,
const
vision_utils
::
TrifocalTensorBase
<
T
>&
_tensor
,
const
Eigen
::
MatrixBase
<
D
2
>&
_c2Ec1
,
Eigen
::
MatrixBase
<
D
3
>&
_e
)
const
Eigen
::
MatrixBase
<
D
4
>&
_c2Ec1
,
Eigen
::
MatrixBase
<
D
5
>&
_e
)
{
// l2 and l3: epipolar lines of m1 in cam 2 and cam 3
Eigen
::
Matrix
<
T
,
3
,
1
>
l2
=
_c2Ec1
*
_m1
;
...
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