removed redundant shared_ptr typedefs in Cal3_S2 and Cal3_S2Stereo
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				|  | @ -32,15 +32,15 @@ using symbol_shorthand::X; | |||
| class ResectioningFactor: public NoiseModelFactor1<Pose3> { | ||||
|   typedef NoiseModelFactor1<Pose3> Base; | ||||
| 
 | ||||
|   shared_ptrK K_; // camera's intrinsic parameters
 | ||||
|   Point3 P_; // 3D point on the calibration rig
 | ||||
|   Point2 p_; // 2D measurement of the 3D point
 | ||||
|   Cal3_S2::shared_ptr K_; ///< camera's intrinsic parameters
 | ||||
|   Point3 P_;              ///< 3D point on the calibration rig
 | ||||
|   Point2 p_;              ///< 2D measurement of the 3D point
 | ||||
| 
 | ||||
| public: | ||||
| 
 | ||||
|   /// Construct factor given known point P and its projection p
 | ||||
|   ResectioningFactor(const SharedNoiseModel& model, const Key& key, | ||||
|       const shared_ptrK& calib, const Point2& p, const Point3& P) : | ||||
|       const Cal3_S2::shared_ptr& calib, const Point2& p, const Point3& P) : | ||||
|       Base(model, key), K_(calib), P_(P), p_(p) { | ||||
|   } | ||||
| 
 | ||||
|  | @ -63,7 +63,7 @@ public: | |||
|  *******************************************************************************/ | ||||
| int main(int argc, char* argv[]) { | ||||
|   /* read camera intrinsic parameters */ | ||||
|   shared_ptrK calib(new Cal3_S2(1, 1, 0, 50, 50)); | ||||
|   Cal3_S2::shared_ptr calib(new Cal3_S2(1, 1, 0, 50, 50)); | ||||
| 
 | ||||
|   /* 1. create graph */ | ||||
|   NonlinearFactorGraph graph; | ||||
|  |  | |||
|  | @ -187,8 +187,4 @@ namespace gtsam { | |||
| 
 | ||||
|   }; | ||||
| 
 | ||||
| 
 | ||||
| 
 | ||||
|   typedef boost::shared_ptr<Cal3_S2> shared_ptrK;  ///< shared pointer to calibration object
 | ||||
| 
 | ||||
| } // gtsam
 | ||||
| } // \ namespace gtsam
 | ||||
|  |  | |||
|  | @ -111,7 +111,4 @@ namespace gtsam { | |||
|     /// @}
 | ||||
| 
 | ||||
|   }; | ||||
| 
 | ||||
|   typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo;  ///< shared pointer to stereo calibration object
 | ||||
| 
 | ||||
| } | ||||
| } // \ namespace gtsam
 | ||||
|  |  | |||
|  | @ -33,16 +33,16 @@ private: | |||
| 
 | ||||
|   // Keep a copy of measurement and calibration for I/O
 | ||||
|   StereoPoint2 measured_;                      ///< the measurement
 | ||||
|   boost::shared_ptr<Cal3_S2Stereo> K_;  ///< shared pointer to calibration
 | ||||
|   boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
 | ||||
|   Cal3_S2Stereo::shared_ptr K_;                ///< shared pointer to calibration
 | ||||
|   boost::optional<POSE> body_P_sensor_;        ///< The pose of the sensor in the body frame
 | ||||
| 
 | ||||
| public: | ||||
| 
 | ||||
|   // shorthand for base class type
 | ||||
|   typedef NoiseModelFactor2<POSE, LANDMARK> Base;               ///< typedef for base class
 | ||||
|   typedef NoiseModelFactor2<POSE, LANDMARK> Base;             ///< typedef for base class
 | ||||
|   typedef GenericStereoFactor<POSE, LANDMARK> This;           ///< typedef for this class (with templates)
 | ||||
|   typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;  ///< typedef for shared pointer to this object
 | ||||
|   typedef POSE CamPose;                        ///< typedef for Pose Lie Value type
 | ||||
|   typedef POSE CamPose;                                       ///< typedef for Pose Lie Value type
 | ||||
| 
 | ||||
|   /**
 | ||||
|    * Default constructor | ||||
|  | @ -58,7 +58,7 @@ public: | |||
|    * @param K the constant calibration | ||||
|    */ | ||||
|   GenericStereoFactor(const StereoPoint2& measured, const SharedNoiseModel& model, | ||||
|       Key poseKey, Key landmarkKey, const shared_ptrKStereo& K, | ||||
|       Key poseKey, Key landmarkKey, const Cal3_S2Stereo::shared_ptr& K, | ||||
|       boost::optional<POSE> body_P_sensor = boost::none) : | ||||
|     Base(model, poseKey, landmarkKey), measured_(measured), K_(K), body_P_sensor_(body_P_sensor) { | ||||
|   } | ||||
|  |  | |||
|  | @ -56,7 +56,7 @@ public: | |||
|    * @param K shared pointer to the constant calibration | ||||
|    */ | ||||
|   InvDepthFactor3(const gtsam::Point2& measured, const gtsam::SharedNoiseModel& model, | ||||
|       const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const gtsam::shared_ptrK& K) : | ||||
|       const gtsam::Key poseKey, gtsam::Key pointKey, gtsam::Key invDepthKey, const Cal3_S2::shared_ptr& K) : | ||||
|         Base(model, poseKey, pointKey, invDepthKey), measured_(measured), K_(K) {} | ||||
| 
 | ||||
|   /** Virtual destructor */ | ||||
|  |  | |||
							
								
								
									
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							|  | @ -25,6 +25,7 @@ | |||
| #include <gtsam/geometry/Point3.h> | ||||
| #include <gtsam/geometry/Pose2.h> | ||||
| #include <gtsam/geometry/Pose3.h> | ||||
| #include <gtsam/geometry/Cal3_S2.h> | ||||
| #include <gtsam/geometry/SimpleCamera.h> | ||||
| 
 | ||||
| #include <exception> | ||||
|  | @ -114,7 +115,7 @@ namespace gtsam { | |||
| 
 | ||||
|     /// insert multiple projection factors for a single pose key
 | ||||
|     void insertProjectionFactors(NonlinearFactorGraph& graph, Key i, const Vector& J, const Matrix& Z, | ||||
|         const SharedNoiseModel& model, const shared_ptrK K, const Pose3& body_P_sensor = Pose3()) { | ||||
|         const SharedNoiseModel& model, const Cal3_S2::shared_ptr K, const Pose3& body_P_sensor = Pose3()) { | ||||
|       if (Z.rows() != 2) throw std::invalid_argument("addMeasurements: Z must be 2*K"); | ||||
|       if (Z.cols() != J.size()) throw std::invalid_argument( | ||||
|             "addMeasurements: J and Z must have same number of entries"); | ||||
|  |  | |||
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