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No more default argument

release/4.3a0
dellaert 2014-10-07 00:44:40 +02:00
parent be3d39b395
commit 0a6fe0f0a8
4 changed files with 7 additions and 7 deletions
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4
gtsam/geometry/TriangulationFactor.h
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@ -115,7 +115,7 @@ public:
Vector evaluateError(const Point3& point, boost::optional<Matrix&> H2 = Vector evaluateError(const Point3& point, boost::optional<Matrix&> H2 =
boost::none) const { boost::none) const {
try { try {
Point2 error(camera_.project(point, boost::none, H2) - measured_); Point2 error(camera_.project(point, boost::none, H2, boost::none) - measured_);
return error.vector(); return error.vector();
} catch (CheiralityException& e) { } catch (CheiralityException& e) {
if (H2) if (H2)
@ -155,7 +155,7 @@ public:
// Would be even better if we could pass blocks to project // Would be even better if we could pass blocks to project
const Point3& point = x.at<Point3>(key()); const Point3& point = x.at<Point3>(key());
b = -(camera_.project(point, boost::none, A) - measured_).vector(); b = -(camera_.project(point, boost::none, A, boost::none) - measured_).vector();
if (noiseModel_) if (noiseModel_)
this->noiseModel_->WhitenSystem(A, b); this->noiseModel_->WhitenSystem(A, b);

2
gtsam/geometry/tests/testSimpleCamera.cpp
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@ -125,7 +125,7 @@ static Point2 project2(const Pose3& pose, const Point3& point) {
TEST( SimpleCamera, Dproject_point_pose) TEST( SimpleCamera, Dproject_point_pose)
{ {
Matrix Dpose, Dpoint; Matrix Dpose, Dpoint;
Point2 result = camera.project(point1, Dpose, Dpoint); Point2 result = camera.project(point1, Dpose, Dpoint, boost::none);
Matrix numerical_pose = numericalDerivative21(project2, pose1, point1); Matrix numerical_pose = numericalDerivative21(project2, pose1, point1);
Matrix numerical_point = numericalDerivative22(project2, pose1, point1); Matrix numerical_point = numericalDerivative22(project2, pose1, point1);
CHECK(assert_equal(result, Point2(-100, 100) )); CHECK(assert_equal(result, Point2(-100, 100) ));

6
gtsam/slam/ProjectionFactor.h
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@ -132,17 +132,17 @@ namespace gtsam {
if(H1) { if(H1) {
gtsam::Matrix H0; gtsam::Matrix H0;
PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_, H0), *K_); PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_, H0), *K_);
Point2 reprojectionError(camera.project(point, H1, H2) - measured_); Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
*H1 = *H1 * H0; *H1 = *H1 * H0;
return reprojectionError.vector(); return reprojectionError.vector();
} else { } else {
PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_), *K_); PinholeCamera<CALIBRATION> camera(pose.compose(*body_P_sensor_), *K_);
Point2 reprojectionError(camera.project(point, H1, H2) - measured_); Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
return reprojectionError.vector(); return reprojectionError.vector();
} }
} else { } else {
PinholeCamera<CALIBRATION> camera(pose, *K_); PinholeCamera<CALIBRATION> camera(pose, *K_);
Point2 reprojectionError(camera.project(point, H1, H2) - measured_); Point2 reprojectionError(camera.project(point, H1, H2, boost::none) - measured_);
return reprojectionError.vector(); return reprojectionError.vector();
} }
} catch( CheiralityException& e) { } catch( CheiralityException& e) {

2
gtsam_unstable/geometry/InvDepthCamera3.h
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@ -104,7 +104,7 @@ public:
} }
else { else {
gtsam::Matrix J2; gtsam::Matrix J2;
gtsam::Point2 uv= camera.project(landmark,H1, J2); gtsam::Point2 uv= camera.project(landmark,H1, J2, boost::none);
if (H1) { if (H1) {
*H1 = (*H1) * gtsam::eye(6); *H1 = (*H1) * gtsam::eye(6);
} }