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Commit 7214a887 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Add more template params

parent 852f192b
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......@@ -637,13 +637,13 @@ typedef std::weak_ptr<TrifocalTensor> TrifocalTensorWPtr;
namespace vision_utils {
// TRILINEARITY PLP
template<typename D1, class T, typename D2, typename D3>
template<typename D1, typename D2, typename D3, class T, typename D4, typename D5>
void errorTrifocalPLP(const Eigen::MatrixBase<D1>& _m1,
const Eigen::MatrixBase<D1>& _m2,
const Eigen::MatrixBase<D1>& _m3,
const Eigen::MatrixBase<D2>& _m2,
const Eigen::MatrixBase<D3>& _m3,
const vision_utils::TrifocalTensorBase<T>& _tensor,
const Eigen::MatrixBase<D2>& _c2Ec1,
Eigen::MatrixBase<D3>& _e)
const Eigen::MatrixBase<D4>& _c2Ec1,
Eigen::MatrixBase<D5>& _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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