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reverting SfmTrack to struct

release/4.3a0
Ayush Baid 2021-01-04 00:07:20 +05:30
parent e0cda60b9b
commit 2e8692105a
1 changed files with 78 additions and 79 deletions
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157
gtsam/slam/dataset.h
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@ -217,95 +217,94 @@ typedef std::pair<size_t, Point2> SfmMeasurement;
typedef std::pair<size_t, size_t> SiftIndex; typedef std::pair<size_t, size_t> SiftIndex;
/// Define the structure for the 3D points /// Define the structure for the 3D points
class GTSAM_EXPORT SfmTrack { struct SfmTrack {
public: SfmTrack(): p(0,0,0) {}
SfmTrack(): p(0,0,0) {} SfmTrack(const gtsam::Point3& pt) : p(pt) {}
SfmTrack(const gtsam::Point3& pt) : p(pt) {} Point3 p; ///< 3D position of the point
Point3 p; ///< 3D position of the point float r, g, b; ///< RGB color of the 3D point
float r, g, b; ///< RGB color of the 3D point std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v)) std::vector<SiftIndex> siftIndices;
std::vector<SiftIndex> siftIndices;
/// Total number of measurements in this track /// Total number of measurements in this track
size_t number_measurements() const { size_t number_measurements() const {
return measurements.size(); return measurements.size();
} }
/// Get the measurement (camera index, Point2) at pose index `idx` /// Get the measurement (camera index, Point2) at pose index `idx`
SfmMeasurement measurement(size_t idx) const { SfmMeasurement measurement(size_t idx) const {
return measurements[idx]; return measurements[idx];
} }
/// Get the SIFT feature index corresponding to the measurement at `idx` /// Get the SIFT feature index corresponding to the measurement at `idx`
SiftIndex siftIndex(size_t idx) const { SiftIndex siftIndex(size_t idx) const {
return siftIndices[idx]; return siftIndices[idx];
} }
/// Get 3D point /// Get 3D point
const Point3& point3() const { const Point3& point3() const {
return p; return p;
} }
/// Add measurement (camera_idx, Point2) to track /// Add measurement (camera_idx, Point2) to track
void add_measurement(size_t idx, const gtsam::Point2& m) { void add_measurement(size_t idx, const gtsam::Point2& m) {
measurements.emplace_back(idx, m); measurements.emplace_back(idx, m);
}
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(p);
ar & BOOST_SERIALIZATION_NVP(r);
ar & BOOST_SERIALIZATION_NVP(g);
ar & BOOST_SERIALIZATION_NVP(b);
ar & BOOST_SERIALIZATION_NVP(measurements);
ar & BOOST_SERIALIZATION_NVP(siftIndices);
}
/// assert equality up to a tolerance
bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const {
// check the 3D point
if (!p.isApprox(sfmTrack.p)) {
return false;
} }
/** Serialization function */ // check the RGB values
friend class boost::serialization::access; if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) {
template<class ARCHIVE> return false;
void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
ar & BOOST_SERIALIZATION_NVP(p);
ar & BOOST_SERIALIZATION_NVP(r);
ar & BOOST_SERIALIZATION_NVP(g);
ar & BOOST_SERIALIZATION_NVP(b);
ar & BOOST_SERIALIZATION_NVP(measurements);
ar & BOOST_SERIALIZATION_NVP(siftIndices);
} }
/// assert equality up to a tolerance // compare size of vectors for measurements and siftIndices
bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const { if (number_measurements() != sfmTrack.number_measurements() ||
// check the 3D point siftIndices.size() != sfmTrack.siftIndices.size()) {
if (!p.isApprox(sfmTrack.p)) { return false;
}
// compare measurements (order sensitive)
for (size_t idx = 0; idx < number_measurements(); ++idx) {
SfmMeasurement measurement = measurements[idx];
SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];
if (measurement.first != otherMeasurement.first ||
!measurement.second.isApprox(otherMeasurement.second)) {
return false; return false;
} }
// check the RGB values
if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) {
return false;
}
// compare size of vectors for measurements and siftIndices
if (number_measurements() != sfmTrack.number_measurements() ||
siftIndices.size() != sfmTrack.siftIndices.size()) {
return false;
}
// compare measurements (order sensitive)
for (size_t idx = 0; idx < number_measurements(); ++idx) {
SfmMeasurement measurement = measurements[idx];
SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];
if (measurement.first != otherMeasurement.first ||
!measurement.second.isApprox(otherMeasurement.second)) {
return false;
}
}
// compare sift indices (order sensitive)
for (size_t idx = 0; idx < siftIndices.size(); ++idx) {
SiftIndex index = siftIndices[idx];
SiftIndex otherIndex = sfmTrack.siftIndices[idx];
if (index.first != otherIndex.first ||
index.second != otherIndex.second) {
return false;
}
}
return true;
} }
/// print // compare sift indices (order sensitive)
void print(const std::string& s = "") const { for (size_t idx = 0; idx < siftIndices.size(); ++idx) {
cout << "Track with " << measurements.size() << "measurements\n"; SiftIndex index = siftIndices[idx];
SiftIndex otherIndex = sfmTrack.siftIndices[idx];
if (index.first != otherIndex.first ||
index.second != otherIndex.second) {
return false;
}
} }
return true;
}
/// print
void print(const std::string& s = "") const {
cout << "Track with " << measurements.size() << "measurements\n";
}
}; };
/* ************************************************************************* */ /* ************************************************************************* */