Deprecated incorrectly named methods

examples/SFMExampleExpressions_bal.cpp

@@ -49,7 +49,7 @@ int main(int argc, char* argv[]) {
   SfmData mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") %
-              mydata.number_tracks() % mydata.number_cameras();
+              mydata.nrTracks() % mydata.nrCameras();
 
   // Create a factor graph
   ExpressionFactorGraph graph;

examples/SFMExample_bal.cpp

@@ -43,7 +43,7 @@ int main (int argc, char* argv[]) {
   // Load the SfM data from file
   SfmData mydata;
   readBAL(filename, mydata);
-  cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
+  cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.nrTracks() % mydata.nrCameras();
 
   // Create a factor graph
   NonlinearFactorGraph graph;

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -48,7 +48,7 @@ int main(int argc, char* argv[]) {
   SfmData mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") %
-              mydata.number_tracks() % mydata.number_cameras();
+              mydata.nrTracks() % mydata.nrCameras();
 
   // Create a factor graph
   NonlinearFactorGraph graph;
@@ -131,7 +131,7 @@ int main(int argc, char* argv[]) {
 
     cout << "Time comparison by solving " << filename << " results:" << endl;
     cout << boost::format("%1% point tracks and %2% cameras\n") %
-                mydata.number_tracks() % mydata.number_cameras()
+                mydata.nrTracks() % mydata.nrCameras()
          << endl;
 
     tictoc_print_();

gtsam/slam/SmartFactorBase.h

@@ -146,7 +146,7 @@ protected:
    */
   template<class SFM_TRACK>
   void add(const SFM_TRACK& trackToAdd) {
-    for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
+    for (size_t k = 0; k < trackToAdd.nrMeasurements(); k++) {
       this->measured_.push_back(trackToAdd.measurements[k].second);
       this->keys_.push_back(trackToAdd.measurements[k].first);
     }

gtsam/slam/slam.i

@@ -220,10 +220,10 @@ class SfmTrack {
 
   std::vector<pair<size_t, gtsam::Point2>> measurements;
 
-  size_t number_measurements() const;
+  size_t nrMeasurements() const;
   pair<size_t, gtsam::Point2> measurement(size_t idx) const;
   pair<size_t, size_t> siftIndex(size_t idx) const;
-  void add_measurement(size_t idx, const gtsam::Point2& m);
+  void addMeasurement(size_t idx, const gtsam::Point2& m);
 
   // enabling serialization functionality
   void serialize() const;
@@ -234,12 +234,12 @@ class SfmTrack {
 
 class SfmData {
   SfmData();
-  size_t number_cameras() const;
+  size_t nrCameras() const;
-  size_t number_tracks() const;
+  size_t nrTracks() const;
   gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
   gtsam::SfmTrack track(size_t idx) const;
-  void add_track(const gtsam::SfmTrack& t);
+  void addTrack(const gtsam::SfmTrack& t);
-  void add_camera(const gtsam::SfmCamera& cam);
+  void addCamera(const gtsam::SfmCamera& cam);
 
   // enabling serialization functionality
   void serialize() const;

gtsam/slam/tests/testDataset.cpp

@@ -160,10 +160,10 @@ TEST( dataSet, Balbianello)
   CHECK(readBundler(filename, mydata));
 
   // Check number of things
-  EXPECT_LONGS_EQUAL(5,mydata.number_cameras());
+  EXPECT_LONGS_EQUAL(5,mydata.nrCameras());
-  EXPECT_LONGS_EQUAL(544,mydata.number_tracks());
+  EXPECT_LONGS_EQUAL(544,mydata.nrTracks());
   const SfmTrack& track0 = mydata.tracks[0];
-  EXPECT_LONGS_EQUAL(3,track0.number_measurements());
+  EXPECT_LONGS_EQUAL(3,track0.nrMeasurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
@@ -470,10 +470,10 @@ TEST( dataSet, readBAL_Dubrovnik)
   CHECK(readBAL(filename, mydata));
 
   // Check number of things
-  EXPECT_LONGS_EQUAL(3,mydata.number_cameras());
+  EXPECT_LONGS_EQUAL(3,mydata.nrCameras());
-  EXPECT_LONGS_EQUAL(7,mydata.number_tracks());
+  EXPECT_LONGS_EQUAL(7,mydata.nrTracks());
   const SfmTrack& track0 = mydata.tracks[0];
-  EXPECT_LONGS_EQUAL(3,track0.number_measurements());
+  EXPECT_LONGS_EQUAL(3,track0.nrMeasurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
@@ -533,16 +533,16 @@ TEST( dataSet, writeBAL_Dubrovnik)
   CHECK(readBAL(filenameToWrite, writtenData));
 
   // Check that what we read is the same as what we wrote
-  EXPECT_LONGS_EQUAL(readData.number_cameras(),writtenData.number_cameras());
+  EXPECT_LONGS_EQUAL(readData.nrCameras(),writtenData.nrCameras());
-  EXPECT_LONGS_EQUAL(readData.number_tracks(),writtenData.number_tracks());
+  EXPECT_LONGS_EQUAL(readData.nrTracks(),writtenData.nrTracks());
 
-  for (size_t i = 0; i < readData.number_cameras(); i++){
+  for (size_t i = 0; i < readData.nrCameras(); i++){
     PinholeCamera<Cal3Bundler> expectedCamera = writtenData.cameras[i];
     PinholeCamera<Cal3Bundler> actualCamera = readData.cameras[i];
     EXPECT(assert_equal(expectedCamera,actualCamera));
   }
 
-  for (size_t j = 0; j < readData.number_tracks(); j++){
+  for (size_t j = 0; j < readData.nrTracks(); j++){
     // check point
     SfmTrack expectedTrack  = writtenData.tracks[j];
     SfmTrack actualTrack = readData.tracks[j];
@@ -556,7 +556,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
     EXPECT(assert_equal(expectedRGB,actualRGB));
 
     // check measurements
-    for (size_t k = 0; k < actualTrack.number_measurements(); k++){
+    for (size_t k = 0; k < actualTrack.nrMeasurements(); k++){
       EXPECT_LONGS_EQUAL(expectedTrack.measurements[k].first,actualTrack.measurements[k].first);
       EXPECT(assert_equal(expectedTrack.measurements[k].second,actualTrack.measurements[k].second));
     }
@@ -575,11 +575,11 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), Point3(0.3,0.1,0.3));
 
   Values value;
-  for(size_t i=0; i < readData.number_cameras(); i++){ // for each camera
+  for(size_t i=0; i < readData.nrCameras(); i++){ // for each camera
     Pose3 pose = poseChange.compose(readData.cameras[i].pose());
     value.insert(X(i), pose);
   }
-  for(size_t j=0; j < readData.number_tracks(); j++){ // for each point
+  for(size_t j=0; j < readData.nrTracks(); j++){ // for each point
     Point3 point = poseChange.transformFrom( readData.tracks[j].p );
     value.insert(P(j), point);
   }
@@ -594,10 +594,10 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
 
   // Check that the reprojection errors are the same and the poses are correct
   // Check number of things
-  EXPECT_LONGS_EQUAL(3,writtenData.number_cameras());
+  EXPECT_LONGS_EQUAL(3,writtenData.nrCameras());
-  EXPECT_LONGS_EQUAL(7,writtenData.number_tracks());
+  EXPECT_LONGS_EQUAL(7,writtenData.nrTracks());
   const SfmTrack& track0 = writtenData.tracks[0];
-  EXPECT_LONGS_EQUAL(3,track0.number_measurements());
+  EXPECT_LONGS_EQUAL(3,track0.nrMeasurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);

gtsam/slam/tests/testEssentialMatrixFactor.cpp

@@ -632,14 +632,14 @@ TEST(EssentialMatrixFactor2, extraMinimization) {
   // We start with a factor graph and add constraints to it
   // Noise sigma is 1, assuming pixel measurements
   NonlinearFactorGraph graph;
-  for (size_t i = 0; i < data.number_tracks(); i++)
+  for (size_t i = 0; i < data.nrTracks(); i++)
     graph.emplace_shared<EssentialMatrixFactor2>(100, i, pA(i), pB(i), model2,
                                                  K);
 
   // Check error at ground truth
   Values truth;
   truth.insert(100, trueE);
-  for (size_t i = 0; i < data.number_tracks(); i++) {
+  for (size_t i = 0; i < data.nrTracks(); i++) {
     Point3 P1 = data.tracks[i].p;
     truth.insert(i, double(baseline / P1.z()));
   }
@@ -654,7 +654,7 @@ TEST(EssentialMatrixFactor2, extraMinimization) {
   // Check result
   EssentialMatrix actual = result.at<EssentialMatrix>(100);
   EXPECT(assert_equal(trueE, actual, 1e-1));
-  for (size_t i = 0; i < data.number_tracks(); i++)
+  for (size_t i = 0; i < data.nrTracks(); i++)
     EXPECT_DOUBLES_EQUAL(truth.at<double>(i), result.at<double>(i), 1e-1);
 
   // Check error at result

python/gtsam/examples/SFMExample_bal.py

@@ -29,10 +29,10 @@ DEFAULT_BAL_DATASET = "dubrovnik-3-7-pre"
 def plot_scene(scene_data: gtsam.SfmData, result: gtsam.Values) -> None:
     """Plot the SFM results."""
     plot_vals = gtsam.Values()
-    for cam_idx in range(scene_data.number_cameras()):
+    for cam_idx in range(scene_data.nrCameras()):
         plot_vals.insert(C(cam_idx),
                          result.atPinholeCameraCal3Bundler(C(cam_idx)).pose())
-    for j in range(scene_data.number_tracks()):
+    for j in range(scene_data.nrTracks()):
         plot_vals.insert(P(j), result.atPoint3(P(j)))
 
     plot.plot_3d_points(0, plot_vals, linespec="g.")
@@ -47,8 +47,8 @@ def run(args: argparse.Namespace) -> None:
 
     # Load the SfM data from file
     scene_data = gtsam.readBal(input_file)
-    logging.info("read %d tracks on %d cameras\n", scene_data.number_tracks(),
+    logging.info("read %d tracks on %d cameras\n", scene_data.nrTracks(),
-                 scene_data.number_cameras())
+                 scene_data.nrCameras())
 
     # Create a factor graph
     graph = gtsam.NonlinearFactorGraph()
@@ -57,10 +57,10 @@ def run(args: argparse.Namespace) -> None:
     noise = gtsam.noiseModel.Isotropic.Sigma(2, 1.0)  # one pixel in u and v
 
     # Add measurements to the factor graph
-    for j in range(scene_data.number_tracks()):
+    for j in range(scene_data.nrTracks()):
         track = scene_data.track(j)  # SfmTrack
         # retrieve the SfmMeasurement objects
-        for m_idx in range(track.number_measurements()):
+        for m_idx in range(track.nrMeasurements()):
             # i represents the camera index, and uv is the 2d measurement
             i, uv = track.measurement(m_idx)
             # note use of shorthand symbols C and P
@@ -82,13 +82,13 @@ def run(args: argparse.Namespace) -> None:
 
     i = 0
     # add each PinholeCameraCal3Bundler
-    for cam_idx in range(scene_data.number_cameras()):
+    for cam_idx in range(scene_data.nrCameras()):
         camera = scene_data.camera(cam_idx)
         initial.insert(C(i), camera)
         i += 1
 
     # add each SfmTrack
-    for j in range(scene_data.number_tracks()):
+    for j in range(scene_data.nrTracks()):
         track = scene_data.track(j)
         initial.insert(P(j), track.point3())
 

python/gtsam/tests/test_SfmData.py

@@ -39,10 +39,10 @@ class TestSfmData(GtsamTestCase):
         # translating point uv_i1 along X-axis
         uv_i2 = gtsam.Point2(24.88, 82)
         # add measurements to the track
-        self.tracks.add_measurement(i1, uv_i1)
+        self.tracks.addMeasurement(i1, uv_i1)
-        self.tracks.add_measurement(i2, uv_i2)
+        self.tracks.addMeasurement(i2, uv_i2)
         # Number of measurements in the track is 2
-        self.assertEqual(self.tracks.number_measurements(), 2)
+        self.assertEqual(self.tracks.nrMeasurements(), 2)
         # camera_idx in the first measurement of the track corresponds to i1
         cam_idx, img_measurement = self.tracks.measurement(0)
         self.assertEqual(cam_idx, i1)
@@ -64,13 +64,13 @@ class TestSfmData(GtsamTestCase):
         measurements = [(i1, uv_i1), (i2, uv_i2), (i3, uv_i3)]
         pt = gtsam.Point3(1.0, 6.0, 2.0)
         track2 = gtsam.SfmTrack(pt)
-        track2.add_measurement(i1, uv_i1)
+        track2.addMeasurement(i1, uv_i1)
-        track2.add_measurement(i2, uv_i2)
+        track2.addMeasurement(i2, uv_i2)
-        track2.add_measurement(i3, uv_i3)
+        track2.addMeasurement(i3, uv_i3)
-        self.data.add_track(self.tracks)
+        self.data.addTrack(self.tracks)
-        self.data.add_track(track2)
+        self.data.addTrack(track2)
         # Number of tracks in SfmData is 2
-        self.assertEqual(self.data.number_tracks(), 2)
+        self.assertEqual(self.data.nrTracks(), 2)
         # camera idx of first measurement of second track corresponds to i1
         cam_idx, img_measurement = self.data.track(1).measurement(0)
         self.assertEqual(cam_idx, i1)

python/gtsam/tests/test_pickle.py

@@ -37,8 +37,8 @@ class TestPickle(GtsamTestCase):
 
     def test_sfmTrack_roundtrip(self):
         obj = SfmTrack(Point3(1, 1, 0))
-        obj.add_measurement(0, Point2(-1, 5))
+        obj.addMeasurement(0, Point2(-1, 5))
-        obj.add_measurement(1, Point2(6, 2))
+        obj.addMeasurement(1, Point2(6, 2))
         self.assertEqualityOnPickleRoundtrip(obj)
 
     def test_unit3_roundtrip(self):

tests/testGeneralSFMFactorB.cpp

@@ -49,7 +49,7 @@ TEST(PinholeCamera, BAL) {
   SharedNoiseModel unit2 = noiseModel::Unit::Create(2);
   NonlinearFactorGraph graph;
 
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     for (const SfmMeasurement& m: db.tracks[j].measurements)
       graph.emplace_shared<sfmFactor>(m.second, unit2, m.first, P(j));
   }

timing/timeSFMBAL.cpp

@@ -36,7 +36,7 @@ int main(int argc, char* argv[]) {
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;

timing/timeSFMBAL.h

@@ -73,8 +73,8 @@ int optimize(const SfmData& db, const NonlinearFactorGraph& graph,
   if (gUseSchur) {
     // Create Schur-complement ordering
     Ordering ordering;
-    for (size_t j = 0; j < db.number_tracks(); j++) ordering.push_back(P(j));
+    for (size_t j = 0; j < db.nrTracks(); j++) ordering.push_back(P(j));
-    for (size_t i = 0; i < db.number_cameras(); i++) {
+    for (size_t i = 0; i < db.nrCameras(); i++) {
       ordering.push_back(C(i));
       if (separateCalibration) ordering.push_back(K(i));
     }

timing/timeSFMBALautodiff.cpp

@@ -44,7 +44,7 @@ int main(int argc, char* argv[]) {
 
   // Build graph
   NonlinearFactorGraph graph;
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;

timing/timeSFMBALcamTnav.cpp

@@ -33,7 +33,7 @@ int main(int argc, char* argv[]) {
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;

timing/timeSFMBALnavTcam.cpp

@@ -33,7 +33,7 @@ int main(int argc, char* argv[]) {
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     Point3_ nav_point_(P(j));
     for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;

timing/timeSFMBALsmart.cpp

@@ -35,7 +35,7 @@ int main(int argc, char* argv[]) {
 
   // Add smart factors to graph
   NonlinearFactorGraph graph;
-  for (size_t j = 0; j < db.number_tracks(); j++) {
+  for (size_t j = 0; j < db.nrTracks(); j++) {
     auto smartFactor = boost::make_shared<SfmFactor>(gNoiseModel);
     for (const SfmMeasurement& m : db.tracks[j].measurements) {
       size_t i = m.first;