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Merge branch 'develop' into fix/621

release/4.3a0
Varun Agrawal 2020-11-30 12:14:30 -05:00
parent e1c3314e48 2d22258ed1
commit 0b81b763a2
7 changed files with 69 additions and 84 deletions
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2
gtsam/geometry/SimpleCamera.cpp
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@ -21,6 +21,7 @@
namespace gtsam {
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
SimpleCamera simpleCamera(const Matrix34& P) {
// P = [A|a] = s K cRw [I|-T], with s the unknown scale
@ -45,5 +46,6 @@ namespace gtsam {
return SimpleCamera(Pose3(wRc, T),
Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
}
#endif
}

17
gtsam/geometry/SimpleCamera.h
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@ -19,14 +19,23 @@
#pragma once
#include <gtsam/geometry/BearingRange.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
namespace gtsam {
/// A simple camera class with a Cal3_S2 calibration
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
/// Convenient aliases for Pinhole camera classes with different calibrations.
/// Also needed as forward declarations in the wrapper.
using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
//TODO Need to fix issue 621 for this to work with wrapper
// using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
// using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/**
* @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
* Use PinholeCameraCal3_S2 instead
@ -140,4 +149,6 @@ struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
template <typename T>
struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
#endif
} // namespace gtsam

4
gtsam/geometry/tests/testSimpleCamera.cpp
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@ -26,6 +26,8 @@
using namespace std;
using namespace gtsam;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
static const Cal3_S2 K(625, 625, 0, 0, 0);
static const Pose3 pose1(Rot3(Vector3(1, -1, -1).asDiagonal()),
@ -149,6 +151,8 @@ TEST( SimpleCamera, simpleCamera)
CHECK(assert_equal(expected, actual,1e-1));
}
#endif
/* ************************************************************************* */
int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
/* ************************************************************************* */

59
gtsam/gtsam.i
View File

@ -329,7 +329,7 @@ virtual class Value {
};
#include <gtsam/base/GenericValue.h>
template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
virtual class GenericValue : gtsam::Value {
void serializable() const;
};
@ -1059,52 +1059,12 @@ class PinholeCamera {
void serialize() const;
};
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h>
virtual class SimpleCamera {
// Standard Constructors and Named Constructors
SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose);
SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector);
// Testable
void print(string s) const;
bool equals(const gtsam::SimpleCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
gtsam::Cal3_S2 calibration() const;
// Manifold
gtsam::SimpleCamera retract(Vector d) const;
Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& pose);
// enabling serialization functionality
void serialize() const;
};
gtsam::SimpleCamera simpleCamera(const Matrix& P);
// Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
@ -1150,7 +1110,7 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements,
double rank_tol, bool optimize);
//*************************************************************************
// Symbolic
//*************************************************************************
@ -2069,7 +2029,7 @@ class NonlinearFactorGraph {
gtsam::KeySet keys() const;
gtsam::KeyVector keyVector() const;
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
// NonlinearFactorGraph
@ -2493,7 +2453,7 @@ class ISAM2 {
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
Vector, Matrix}>
VALUE calculateEstimate(size_t key) const;
gtsam::Values calculateBestEstimate() const;
@ -2527,12 +2487,11 @@ class NonlinearISAM {
//*************************************************************************
// Nonlinear factor types
//*************************************************************************
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const;
@ -2556,7 +2515,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2,
gtsam::PinholeCameraCal3_S2,
gtsam::imuBias::ConstantBias}>
virtual class NonlinearEquality : gtsam::NoiseModelFactor {
// Constructor - forces exact evaluation
@ -2675,7 +2634,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
gtsam::Point2 measured() const;
};
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;

27
gtsam_unstable/slam/serialization.cpp
View File

@ -43,7 +43,6 @@ typedef PriorFactor<Pose3> PriorFactorPose3;
typedef PriorFactor<Cal3_S2> PriorFactorCal3_S2;
typedef PriorFactor<Cal3DS2> PriorFactorCal3DS2;
typedef PriorFactor<CalibratedCamera> PriorFactorCalibratedCamera;
typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
typedef PriorFactor<PinholeCameraCal3_S2> PriorFactorPinholeCameraCal3_S2;
typedef PriorFactor<StereoCamera> PriorFactorStereoCamera;
@ -68,7 +67,6 @@ typedef NonlinearEquality<Pose3> NonlinearEqualityPose3;
typedef NonlinearEquality<Cal3_S2> NonlinearEqualityCal3_S2;
typedef NonlinearEquality<Cal3DS2> NonlinearEqualityCal3DS2;
typedef NonlinearEquality<CalibratedCamera> NonlinearEqualityCalibratedCamera;
typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
typedef NonlinearEquality<PinholeCameraCal3_S2> NonlinearEqualityPinholeCameraCal3_S2;
typedef NonlinearEquality<StereoCamera> NonlinearEqualityStereoCamera;
@ -77,10 +75,8 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
typedef RangeFactor<Pose2, Pose2> RangeFactorPose2;
typedef RangeFactor<Pose3, Pose3> RangeFactorPose3;
typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<PinholeCameraCal3_S2, Point3> RangeFactorPinholeCameraCal3_S2Point;
typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
@ -90,6 +86,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO fix issue 621
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -129,7 +126,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
@ -150,7 +146,6 @@ BOOST_CLASS_EXPORT_GUID(PriorFactorPose3, "gtsam::PriorFactorPose3");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3_S2, "gtsam::PriorFactorCal3_S2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCal3DS2, "gtsam::PriorFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(PriorFactorCalibratedCamera, "gtsam::PriorFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(PriorFactorStereoCamera, "gtsam::PriorFactorStereoCamera");
BOOST_CLASS_EXPORT_GUID(BetweenFactorLieVector, "gtsam::BetweenFactorLieVector");
@ -174,7 +169,6 @@ BOOST_CLASS_EXPORT_GUID(NonlinearEqualityPose3, "gtsam::NonlinearEqualityPose3")
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3_S2, "gtsam::NonlinearEqualityCal3_S2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCal3DS2, "gtsam::NonlinearEqualityCal3DS2");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityCalibratedCamera, "gtsam::NonlinearEqualityCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualityStereoCamera, "gtsam::NonlinearEqualityStereoCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactor2D, "gtsam::RangeFactor2D");
@ -182,9 +176,7 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
@ -192,12 +184,29 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO Fix issue 621
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
BOOST_CLASS_EXPORT_GUID(GenericStereoFactor3D, "gtsam::GenericStereoFactor3D");
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
typedef PriorFactor<SimpleCamera> PriorFactorSimpleCamera;
typedef NonlinearEquality<SimpleCamera> NonlinearEqualitySimpleCamera;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
BOOST_CLASS_EXPORT_GUID(PriorFactorSimpleCamera, "gtsam::PriorFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(NonlinearEqualitySimpleCamera, "gtsam::NonlinearEqualitySimpleCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
#endif
/* ************************************************************************* */
// Actual implementations of functions
/* ************************************************************************* */

15
python/gtsam/tests/test_SimpleCamera.py
View File

@ -14,11 +14,12 @@ import unittest
import numpy as np
import gtsam
from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, SimpleCamera
from gtsam import Cal3_S2, Point3, Pose2, Pose3, Rot3, PinholeCameraCal3_S2 as SimpleCamera
from gtsam.utils.test_case import GtsamTestCase
K = Cal3_S2(625, 625, 0, 0, 0)
class TestSimpleCamera(GtsamTestCase):
def test_constructor(self):
@ -29,15 +30,15 @@ class TestSimpleCamera(GtsamTestCase):
def test_level2(self):
# Create a level camera, looking in Y-direction
pose2 = Pose2(0.4,0.3,math.pi/2.0)
pose2 = Pose2(0.4, 0.3, math.pi/2.0)
camera = SimpleCamera.Level(K, pose2, 0.1)
# expected
x = Point3(1,0,0)
y = Point3(0,0,-1)
z = Point3(0,1,0)
wRc = Rot3(x,y,z)
expected = Pose3(wRc,Point3(0.4,0.3,0.1))
x = Point3(1, 0, 0)
y = Point3(0, 0, -1)
z = Point3(0, 1, 0)
wRc = Rot3(x, y, z)
expected = Pose3(wRc, Point3(0.4, 0.3, 0.1))
self.gtsamAssertEquals(camera.pose(), expected, 1e-9)

29
tests/testSerializationSLAM.cpp
View File

@ -89,10 +89,8 @@ typedef RangeFactor<Pose3, Point3> RangeFactor3D;
typedef RangeFactor<Pose2, Pose2> RangeFactorPose2;
typedef RangeFactor<Pose3, Pose3> RangeFactorPose3;
typedef RangeFactor<CalibratedCamera, Point3> RangeFactorCalibratedCameraPoint;
typedef RangeFactor<SimpleCamera, Point3> RangeFactorSimpleCameraPoint;
typedef RangeFactor<PinholeCameraCal3_S2, Point3> RangeFactorPinholeCameraCal3_S2Point;
typedef RangeFactor<CalibratedCamera, CalibratedCamera> RangeFactorCalibratedCamera;
typedef RangeFactor<SimpleCamera, SimpleCamera> RangeFactorSimpleCamera;
typedef RangeFactor<PinholeCameraCal3_S2, PinholeCameraCal3_S2> RangeFactorPinholeCameraCal3_S2;
typedef BearingRangeFactor<Pose2, Point2> BearingRangeFactor2D;
@ -102,6 +100,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO Fix issue 621 for this to work
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -145,7 +144,6 @@ GTSAM_VALUE_EXPORT(gtsam::Cal3_S2);
GTSAM_VALUE_EXPORT(gtsam::Cal3DS2);
GTSAM_VALUE_EXPORT(gtsam::Cal3_S2Stereo);
GTSAM_VALUE_EXPORT(gtsam::CalibratedCamera);
GTSAM_VALUE_EXPORT(gtsam::SimpleCamera);
GTSAM_VALUE_EXPORT(gtsam::PinholeCameraCal3_S2);
GTSAM_VALUE_EXPORT(gtsam::StereoCamera);
@ -190,9 +188,9 @@ BOOST_CLASS_EXPORT_GUID(RangeFactor3D, "gtsam::RangeFactor3D");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose2, "gtsam::RangeFactorPose2");
BOOST_CLASS_EXPORT_GUID(RangeFactorPose3, "gtsam::RangeFactorPose3");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCameraPoint, "gtsam::RangeFactorCalibratedCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCameraPoint, "gtsam::RangeFactorSimpleCameraPoint");
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2Point, "gtsam::RangeFactorPinholeCameraCal3_S2Point");
BOOST_CLASS_EXPORT_GUID(RangeFactorCalibratedCamera, "gtsam::RangeFactorCalibratedCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorSimpleCamera, "gtsam::RangeFactorSimpleCamera");
BOOST_CLASS_EXPORT_GUID(RangeFactorPinholeCameraCal3_S2, "gtsam::RangeFactorPinholeCameraCal3_S2");
BOOST_CLASS_EXPORT_GUID(BearingRangeFactor2D, "gtsam::BearingRangeFactor2D");
@ -200,6 +198,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO fix issue 621
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");
@ -352,9 +351,9 @@ TEST (testSerializationSLAM, factors) {
RangeFactorPose2 rangeFactorPose2(a08, b08, 2.0, model1);
RangeFactorPose3 rangeFactorPose3(a09, b09, 2.0, model1);
RangeFactorCalibratedCameraPoint rangeFactorCalibratedCameraPoint(a12, a05, 2.0, model1);
RangeFactorSimpleCameraPoint rangeFactorSimpleCameraPoint(a13, a05, 2.0, model1);
RangeFactorPinholeCameraCal3_S2Point rangeFactorPinholeCameraCal3_S2Point(a13, a05, 2.0, model1);
RangeFactorCalibratedCamera rangeFactorCalibratedCamera(a12, b12, 2.0, model1);
RangeFactorSimpleCamera rangeFactorSimpleCamera(a13, b13, 2.0, model1);
RangeFactorPinholeCameraCal3_S2 rangeFactorPinholeCameraCal3_S2(a13, b13, 2.0, model1);
BearingRangeFactor2D bearingRangeFactor2D(a08, a03, rot2, 2.0, model2);
@ -405,9 +404,9 @@ TEST (testSerializationSLAM, factors) {
graph += rangeFactorPose2;
graph += rangeFactorPose3;
graph += rangeFactorCalibratedCameraPoint;
graph += rangeFactorSimpleCameraPoint;
graph += rangeFactorPinholeCameraCal3_S2Point;
graph += rangeFactorCalibratedCamera;
graph += rangeFactorSimpleCamera;
graph += rangeFactorPinholeCameraCal3_S2;
graph += bearingRangeFactor2D;
@ -463,9 +462,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsObj<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsObj<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsObj<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsObj<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsObj<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsObj<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsObj<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsObj<BearingRangeFactor2D>(bearingRangeFactor2D));
@ -521,9 +520,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsXML<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsXML<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsXML<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsXML<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsXML<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsXML<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsXML<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsXML<BearingRangeFactor2D>(bearingRangeFactor2D));
@ -579,9 +578,9 @@ TEST (testSerializationSLAM, factors) {
EXPECT(equalsBinary<RangeFactorPose2>(rangeFactorPose2));
EXPECT(equalsBinary<RangeFactorPose3>(rangeFactorPose3));
EXPECT(equalsBinary<RangeFactorCalibratedCameraPoint>(rangeFactorCalibratedCameraPoint));
EXPECT(equalsBinary<RangeFactorSimpleCameraPoint>(rangeFactorSimpleCameraPoint));
EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2Point>(rangeFactorPinholeCameraCal3_S2Point));
EXPECT(equalsBinary<RangeFactorCalibratedCamera>(rangeFactorCalibratedCamera));
EXPECT(equalsBinary<RangeFactorSimpleCamera>(rangeFactorSimpleCamera));
EXPECT(equalsBinary<RangeFactorPinholeCameraCal3_S2>(rangeFactorPinholeCameraCal3_S2));
EXPECT(equalsBinary<BearingRangeFactor2D>(bearingRangeFactor2D));