Renamed TransformCalProjectionFactor to ProjectionFactorPPPC to follow new naming convention
Chris Beall
parent
bc982293ab
commit
2c3f6e563d
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@ -767,13 +767,13 @@ typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal
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typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> TransformProjectionFactorCal3DS2;
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#include <gtsam_unstable/slam/TransformCalProjectionFactor.h>
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#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
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template<POSE, LANDMARK, CALIBRATION>
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virtual class TransformCalProjectionFactor : gtsam::NoiseModelFactor {
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TransformCalProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
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virtual class ProjectionFactorPPPC : gtsam::NoiseModelFactor {
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ProjectionFactorPPPC(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
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size_t poseKey, size_t transformKey, size_t pointKey, size_t calibKey);
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TransformCalProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
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ProjectionFactorPPPC(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
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size_t poseKey, size_t transformKey, size_t pointKey, size_t calibKey, bool throwCheirality, bool verboseCheirality);
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gtsam::Point2 measured() const;
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@ -783,7 +783,7 @@ virtual class TransformCalProjectionFactor : gtsam::NoiseModelFactor {
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// enabling serialization functionality
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void serialize() const;
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};
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typedef gtsam::TransformCalProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> TransformCalProjectionFactorCal3_S2;
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typedef gtsam::TransformCalProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> TransformCalProjectionFactorCal3DS2;
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typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCCal3_S2;
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typedef gtsam::ProjectionFactorPPPC<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCCal3DS2;
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} //\namespace gtsam
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@ -10,32 +10,30 @@
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* -------------------------------------------------------------------------- */
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/**
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* @file TransformCalProjectionFactor.h
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* @brief Basic bearing factor from 2D measurement
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* @file ProjectionFactorPPPC.h
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* @brief Derived from ProjectionFactor, but estimates body-camera transform
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* and calibration in addition to body pose and 3D landmark
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* @author Chris Beall
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* @author Richard Roberts
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* @author Frank Dellaert
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* @author Alex Cunningham
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*/
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#pragma once
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#include <gtsam/nonlinear/NonlinearFactor.h>
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <boost/optional.hpp>
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namespace gtsam {
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/**
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* Non-linear factor for a constraint derived from a 2D measurement. The calibration is known here.
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* i.e. the main building block for visual SLAM.
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* Non-linear factor for a constraint derived from a 2D measurement. This factor
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* estimates the body pose, body-camera transform, 3D landmark, and calibration.
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* @addtogroup SLAM
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*/
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template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
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class TransformCalProjectionFactor: public NoiseModelFactor4<POSE, POSE, LANDMARK, CALIBRATION> {
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class ProjectionFactorPPPC: public NoiseModelFactor4<POSE, POSE, LANDMARK, CALIBRATION> {
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protected:
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// Keep a copy of measurement and calibration for I/O
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Point2 measured_; ///< 2D measurement
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// verbosity handling for Cheirality Exceptions
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@ -48,13 +46,13 @@ namespace gtsam {
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typedef NoiseModelFactor4<POSE, POSE, LANDMARK, CALIBRATION> Base;
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/// shorthand for this class
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typedef TransformCalProjectionFactor<POSE, LANDMARK, CALIBRATION> This;
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typedef ProjectionFactorPPPC<POSE, LANDMARK, CALIBRATION> This;
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/// shorthand for a smart pointer to a factor
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typedef boost::shared_ptr<This> shared_ptr;
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/// Default constructor
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TransformCalProjectionFactor() : throwCheirality_(false), verboseCheirality_(false) {}
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ProjectionFactorPPPC() : throwCheirality_(false), verboseCheirality_(false) {}
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/**
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* Constructor
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@ -65,7 +63,7 @@ namespace gtsam {
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* @param pointKey is the index of the landmark
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* @param K shared pointer to the constant calibration
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*/
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TransformCalProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
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ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model,
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Key poseKey, Key transformKey, Key pointKey, Key calibKey) :
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Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured),
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throwCheirality_(false), verboseCheirality_(false) {}
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@ -81,14 +79,14 @@ namespace gtsam {
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* @param throwCheirality determines whether Cheirality exceptions are rethrown
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* @param verboseCheirality determines whether exceptions are printed for Cheirality
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*/
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TransformCalProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
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ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model,
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Key poseKey, Key transformKey, Key pointKey, Key calibKey,
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bool throwCheirality, bool verboseCheirality) :
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Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured),
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throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
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/** Virtual destructor */
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virtual ~TransformCalProjectionFactor() {}
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virtual ~ProjectionFactorPPPC() {}
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/// @return a deep copy of this factor
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virtual gtsam::NonlinearFactor::shared_ptr clone() const {
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@ -101,7 +99,7 @@ namespace gtsam {
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* @param keyFormatter optional formatter useful for printing Symbols
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*/
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
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std::cout << s << "TransformCalProjectionFactor, z = ";
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std::cout << s << "ProjectionFactorPPPC, z = ";
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measured_.print();
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Base::print("", keyFormatter);
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}
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@ -10,7 +10,7 @@
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* -------------------------------------------------------------------------- */
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/**
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* @file testTransformCalProjectionFactor.cpp
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* @file testProjectionFactorPPPC.cpp
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* @brief Unit tests for Pose+Transform+Calibration ProjectionFactor Class
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* @author Chris Beall
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* @date Jul 29, 2014
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@ -18,7 +18,7 @@
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam_unstable/slam/TransformCalProjectionFactor.h>
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#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3_S2.h>
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@ -47,11 +47,11 @@ using symbol_shorthand::L;
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using symbol_shorthand::T;
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using symbol_shorthand::K;
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typedef TransformCalProjectionFactor<Pose3, Point3, Cal3_S2> TestProjectionFactor;
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typedef ProjectionFactorPPPC<Pose3, Point3, Cal3_S2> TestProjectionFactor;
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/* ************************************************************************* */
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TEST( ProjectionFactor, nonStandard ) {
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TransformCalProjectionFactor<Pose3, Point3, Cal3DS2> f;
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ProjectionFactorPPPC<Pose3, Point3, Cal3DS2> f;
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}
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/* ************************************************************************* */
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