Wrapper updates
- New readBal function - Extra utility functions for reading Values from SfmData - Quaternion class - Fixed issue with Rot3::toQuaternion() - Pose3 constructor with Pose2 as arg - K() function in Cal3Bundler - Added better support for PinholeCameraCal3_S2 in Values - Updated TODOsrelease/4.3a0
Varun Agrawal
parent
e95840b1b5
commit
13486166c6
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@ -623,6 +623,15 @@ class SOn {
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void serialize() const;
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};
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#include <gtsam/geometry/Quaternion.h>
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class Quaternion {
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double w() const;
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double x() const;
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double y() const;
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double z() const;
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Vector coeffs() const;
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};
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#include <gtsam/geometry/Rot3.h>
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class Rot3 {
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// Standard Constructors and Named Constructors
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@ -659,7 +668,7 @@ class Rot3 {
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gtsam::Rot3 between(const gtsam::Rot3& p2) const;
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// Manifold
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//gtsam::Rot3 retractCayley(Vector v) const; // FIXME, does not exist in both Matrix and Quaternion options
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//gtsam::Rot3 retractCayley(Vector v) const; // TODO, does not exist in both Matrix and Quaternion options
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gtsam::Rot3 retract(Vector v) const;
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Vector localCoordinates(const gtsam::Rot3& p) const;
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@ -680,7 +689,7 @@ class Rot3 {
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double pitch() const;
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double yaw() const;
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pair<gtsam::Unit3, double> axisAngle() const;
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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gtsam::Quaternion toQuaternion() const;
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Vector quaternion() const;
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gtsam::Rot3 slerp(double t, const gtsam::Rot3& other) const;
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@ -748,7 +757,7 @@ class Pose3 {
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Pose3();
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Pose3(const gtsam::Pose3& other);
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Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
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Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
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Pose3(const gtsam::Pose2& pose2);
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Pose3(Matrix mat);
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// Testable
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@ -1015,7 +1024,7 @@ class Cal3Bundler {
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double v0() const;
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Vector vector() const;
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Vector k() const;
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//Matrix K() const; //FIXME: Uppercase
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Matrix K() const;
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// enabling serialization functionality
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void serialize() const;
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@ -1134,7 +1143,7 @@ gtsam::SimpleCamera simpleCamera(const Matrix& P);
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// Some typedefs for common camera types
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// PinholeCameraCal3_S2 is the same as SimpleCamera above
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typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
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// due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
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//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
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//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
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//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
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//typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
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@ -1330,7 +1339,7 @@ class SymbolicBayesTree {
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// // const std::list<derived_ptr>& children() const { return children_; }
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// // derived_ptr parent() const { return parent_.lock(); }
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//
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// // FIXME: need wrapped versions graphs, BayesNet
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// // TODO: need wrapped versions graphs, BayesNet
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// // BayesNet<ConditionalType> shortcut(derived_ptr root, Eliminate function) const;
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// // FactorGraph<FactorType> marginal(derived_ptr root, Eliminate function) const;
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// // FactorGraph<FactorType> joint(derived_ptr C2, derived_ptr root, Eliminate function) const;
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@ -2129,7 +2138,7 @@ virtual class NonlinearFactor {
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bool active(const gtsam::Values& c) const;
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gtsam::GaussianFactor* linearize(const gtsam::Values& c) const;
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gtsam::NonlinearFactor* clone() const;
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// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //FIXME: Conversion from KeyVector to std::vector does not happen
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// gtsam::NonlinearFactor* rekey(const gtsam::KeyVector& newKeys) const; //TODO: Conversion from KeyVector to std::vector does not happen
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};
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#include <gtsam/nonlinear/NonlinearFactor.h>
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@ -2193,6 +2202,7 @@ class Values {
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void insert(size_t j, const gtsam::Cal3Bundler& cal3bundler);
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void insert(size_t j, const gtsam::EssentialMatrix& essential_matrix);
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void insert(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
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// void insert(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
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void insert(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
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void insert(size_t j, const gtsam::NavState& nav_state);
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@ -2209,12 +2219,14 @@ class Values {
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void update(size_t j, const gtsam::Cal3DS2& cal3ds2);
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void update(size_t j, const gtsam::Cal3Bundler& cal3bundler);
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void update(size_t j, const gtsam::EssentialMatrix& essential_matrix);
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void update(size_t j, const gtsam::PinholeCameraCal3_S2& simple_camera);
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// void update(size_t j, const gtsam::PinholeCameraCal3Bundler& camera);
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void update(size_t j, const gtsam::imuBias::ConstantBias& constant_bias);
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void update(size_t j, const gtsam::NavState& nav_state);
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void update(size_t j, Vector vector);
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void update(size_t j, Matrix matrix);
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template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
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template<T = {gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::NavState, Vector, Matrix}>
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T at(size_t j);
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/// version for double
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@ -2698,7 +2710,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
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gtsam::Point2 measured() const;
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};
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typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
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// due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
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//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
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//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
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template<CALIBRATION = {gtsam::Cal3_S2}>
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@ -2800,6 +2812,10 @@ class SfmData {
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gtsam::SfmTrack track(size_t idx) const;
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};
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gtsam::SfmData readBal(string filename);
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gtsam::Values initialCamerasEstimate(const gtsam::SfmData& db);
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gtsam::Values initialCamerasAndPointsEstimate(const gtsam::SfmData& db);
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pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
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gtsam::noiseModel::Diagonal* model, int maxIndex, bool addNoise, bool smart);
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pair<gtsam::NonlinearFactorGraph*, gtsam::Values*> load2D(string filename,
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