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Move Smart Projection Factor wrapper to stable

release/4.3a0
cbeall3 2014-06-20 13:41:51 -04:00
parent a34dff1397
commit 3bacdbbec5
2 changed files with 19 additions and 19 deletions
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19
gtsam.h
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@ -2197,6 +2197,25 @@ virtual class GeneralSFMFactor2 : gtsam::NoiseModelFactor {
void serialize() const; void serialize() const;
}; };
#include <gtsam/slam/SmartProjectionPoseFactor.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
SmartProjectionPoseFactor(double rankTol, double linThreshold,
bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
SmartProjectionPoseFactor(double rankTol);
SmartProjectionPoseFactor();
void add(const gtsam::Point2& measured_i, size_t poseKey_i, const gtsam::noiseModel::Base* noise_i,
const CALIBRATION* K_i);
// enabling serialization functionality
//void serialize() const;
};
typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
#include <gtsam/slam/StereoFactor.h> #include <gtsam/slam/StereoFactor.h>
template<POSE, LANDMARK> template<POSE, LANDMARK>

19
gtsam_unstable/gtsam_unstable.h
View File

@ -380,25 +380,6 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
}; };
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h>
template<POSE, LANDMARK, CALIBRATION>
virtual class SmartProjectionPoseFactor : gtsam::NonlinearFactor {
SmartProjectionPoseFactor(double rankTol, double linThreshold,
bool manageDegeneracy, bool enableEPI, const POSE& body_P_sensor);
SmartProjectionPoseFactor(double rankTol);
SmartProjectionPoseFactor();
void add(const gtsam::Point2& measured_i, size_t poseKey_i, const gtsam::noiseModel::Base* noise_i,
const CALIBRATION* K_i);
// enabling serialization functionality
//void serialize() const;
};
typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> SmartProjectionPose3Factor;
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
template<POSE, POINT> template<POSE, POINT>
virtual class RangeFactor : gtsam::NonlinearFactor { virtual class RangeFactor : gtsam::NonlinearFactor {