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authorMartin Miller2017-04-09 13:25:13 -0500
committerMartin Miller2017-04-09 13:25:13 -0500
commite5c3b5117c2f3936967319223e353ac6c7a0b1ca (patch)
tree56c9e8812985205b0a5242b73cc0f32d0886c17d /src/state.h
parentb1315673d8cba1380d00bd571191f403cfc9e99d (diff)
downloadrefslam-e5c3b5117c2f3936967319223e353ac6c7a0b1ca.zip
refslam-e5c3b5117c2f3936967319223e353ac6c7a0b1ca.tar.gz
warp source and reflection patches
Diffstat (limited to 'src/state.h')
-rw-r--r--src/state.h4
1 files changed, 2 insertions, 2 deletions
diff --git a/src/state.h b/src/state.h
index 8098415..08d71ee 100644
--- a/src/state.h
+++ b/src/state.h
@@ -51,12 +51,12 @@ class State
MatrixXd H ( const vector<measurement_t> &z );
MatrixXd blockSI( const vector<measurement_t> &z );
Quaterniond qhat();
- void featuresAsMeasurements(vector<measurement_t> &yk);
+ void featuresAsMeasurements(vector<measurement_t> &yk, const Camera &cam);
#else
MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt);
MatrixXd H ( const Quaterniond &q, const vector<measurement_t> &z );
MatrixXd blockSI( const vector<measurement_t> &z, const Quaterniond &q);
- void featuresAsMeasurements(vector<measurement_t> &yk,
+ void featuresAsMeasurements(vector<measurement_t> &yk, const Camera &cam,
const Quaterniond &q);
#endif
int Hrows( const vector<measurement_t> &z );