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Merge remote-tracking branch 'origin/develop' into feature/sam_sfm_directories

release/4.3a0
Frank Dellaert 2015-07-15 22:33:28 -07:00
parent 3d04fa0ed3 adc653c281
commit 1a8a7235c2
2 changed files with 16 additions and 6 deletions
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12
gtsam/slam/SmartProjectionFactor.h
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@ -11,7 +11,7 @@
/** /**
* @file SmartProjectionFactor.h * @file SmartProjectionFactor.h
* @brief Base class to create smart factors on poses or cameras * @brief Smart factor on cameras (pose + calibration)
* @author Luca Carlone * @author Luca Carlone
* @author Zsolt Kira * @author Zsolt Kira
* @author Frank Dellaert * @author Frank Dellaert
@ -108,16 +108,22 @@ public:
void setEnableEPI(bool enableEPI) { void setEnableEPI(bool enableEPI) {
triangulation.enableEPI = enableEPI; triangulation.enableEPI = enableEPI;
} }
void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) { void setLandmarkDistanceThreshold(double landmarkDistanceThreshold) {
triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold; triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold;
} }
void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) { void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold) {
triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold; triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold;
} }
}; };
/** /**
* SmartProjectionFactor: triangulates point and keeps an estimate of it around. * SmartProjectionFactor: triangulates point and keeps an estimate of it around.
* This factor operates with monocular cameras, where a camera is expected to
* behave like PinholeCamera or PinholePose. This factor is intended
* to be used directly with PinholeCamera, which optimizes the camera pose
* and calibration. This also requires that values contains the involved
* cameras (instead of poses and calibrations separately).
* If the calibration is fixed use SmartProjectionPoseFactor instead!
*/ */
template<class CAMERA> template<class CAMERA>
class SmartProjectionFactor: public SmartFactorBase<CAMERA> { class SmartProjectionFactor: public SmartFactorBase<CAMERA> {

10
gtsam/slam/SmartProjectionPoseFactor.h
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@ -11,7 +11,7 @@
/** /**
* @file SmartProjectionPoseFactor.h * @file SmartProjectionPoseFactor.h
* @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark * @brief Smart factor on poses, assuming camera calibration is fixed
* @author Luca Carlone * @author Luca Carlone
* @author Chris Beall * @author Chris Beall
* @author Zsolt Kira * @author Zsolt Kira
@ -34,7 +34,11 @@ namespace gtsam {
*/ */
/** /**
* The calibration is known here. The factor only constraints poses (variable dimension is 6) * This factor assumes that camera calibration is fixed, and that
* the calibration is the same for all cameras involved in this factor.
* The factor only constrains poses (variable dimension is 6).
* This factor requires that values contains the involved poses (Pose3).
* If the calibration should be optimized, as well, use SmartProjectionFactor instead!
* @addtogroup SLAM * @addtogroup SLAM
*/ */
template<class CALIBRATION> template<class CALIBRATION>
@ -58,7 +62,7 @@ public:
/** /**
* Constructor * Constructor
* @param K (fixed) calibration, assumed to be the same for all cameras * @param K (fixed) calibration, assumed to be the same for all cameras
* @param body_P_sensor pose of the camera in the body frame * @param body_P_sensor pose of the camera in the body frame
* @param params internal parameters of the smart factors * @param params internal parameters of the smart factors
*/ */
SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K, SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K,