12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Removed types defined in Base class

release/4.3a0
Frank Dellaert 2021-08-29 16:33:13 -04:00
parent 94727d84c1
commit 0b9c368aca
1 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
gtsam/slam/SmartProjectionFactorP.h
View File

@ -71,8 +71,6 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
public:
typedef CAMERA Camera;
typedef CameraSet<CAMERA> Cameras;
typedef Eigen::Matrix<double, ZDim, DimPose> MatrixZD; // F blocks
typedef std::vector<MatrixZD, Eigen::aligned_allocator<MatrixZD> > FBlocks; // vector of F blocks
/// shorthand for a smart pointer to a factor
typedef boost::shared_ptr<This> shared_ptr;
@ -234,7 +232,8 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
* respect to both body poses we interpolate from), the point Jacobian E,
* and the error vector b. Note that the jacobians are computed for a given point.
*/
void computeJacobiansWithTriangulatedPoint(FBlocks& Fs, Matrix& E, Vector& b,
void computeJacobiansWithTriangulatedPoint(typename Base::FBlocks& Fs,
Matrix& E, Vector& b,
const Cameras& cameras) const {
if (!this->result_) {
throw("computeJacobiansWithTriangulatedPoint");
@ -289,7 +288,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
}
// compute Jacobian given triangulated 3D Point
FBlocks Fs;
typename Base::FBlocks Fs;
Matrix E;
Vector b;
this->computeJacobiansWithTriangulatedPoint(Fs, E, b, cameras);
@ -300,7 +299,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
Fs[i] = this->noiseModel_->Whiten(Fs[i]);
}
Matrix3 P = Base::Cameras::PointCov(E, lambda, diagonalDamping);
const Matrix3 P = Base::Cameras::PointCov(E, lambda, diagonalDamping);
// Build augmented Hessian (with last row/column being the information vector)
// Note: we need to get the augumented hessian wrt the unique keys in key_