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Deprecated incorrectly named methods

release/4.3a0
Frank Dellaert 2022-01-31 08:32:44 -05:00
parent 0fd49efaba
commit 3d51989f2e
17 changed files with 57 additions and 57 deletions
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2
examples/SFMExampleExpressions_bal.cpp
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@ -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;

2
examples/SFMExample_bal.cpp
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@ -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;

4
examples/SFMExample_bal_COLAMD_METIS.cpp
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@ -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_();

2
gtsam/slam/SmartFactorBase.h
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@ -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);
}

12
gtsam/slam/slam.i
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@ -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 number_tracks() const;
size_t nrCameras() 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 add_camera(const gtsam::SfmCamera& cam);
void addTrack(const gtsam::SfmTrack& t);
void addCamera(const gtsam::SfmCamera& cam);
// enabling serialization functionality
void serialize() const;

32
gtsam/slam/tests/testDataset.cpp
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@ -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(544,mydata.number_tracks());
EXPECT_LONGS_EQUAL(5,mydata.nrCameras());
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(7,mydata.number_tracks());
EXPECT_LONGS_EQUAL(3,mydata.nrCameras());
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.number_tracks(),writtenData.number_tracks());
EXPECT_LONGS_EQUAL(readData.nrCameras(),writtenData.nrCameras());
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(7,writtenData.number_tracks());
EXPECT_LONGS_EQUAL(3,writtenData.nrCameras());
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);

6
gtsam/slam/tests/testEssentialMatrixFactor.cpp
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@ -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

16
python/gtsam/examples/SFMExample_bal.py
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@ -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(),
scene_data.number_cameras())
logging.info("read %d tracks on %d cameras\n", scene_data.nrTracks(),
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())

18
python/gtsam/tests/test_SfmData.py
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@ -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.add_measurement(i2, uv_i2)
self.tracks.addMeasurement(i1, uv_i1)
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.add_measurement(i2, uv_i2)
track2.add_measurement(i3, uv_i3)
self.data.add_track(self.tracks)
self.data.add_track(track2)
track2.addMeasurement(i1, uv_i1)
track2.addMeasurement(i2, uv_i2)
track2.addMeasurement(i3, uv_i3)
self.data.addTrack(self.tracks)
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)

4
python/gtsam/tests/test_pickle.py
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@ -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.add_measurement(1, Point2(6, 2))
obj.addMeasurement(0, Point2(-1, 5))
obj.addMeasurement(1, Point2(6, 2))
self.assertEqualityOnPickleRoundtrip(obj)
def test_unit3_roundtrip(self):

2
tests/testGeneralSFMFactorB.cpp
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@ -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));
}

2
timing/timeSFMBAL.cpp
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@ -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;

4
timing/timeSFMBAL.h
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@ -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 i = 0; i < db.number_cameras(); i++) {
for (size_t j = 0; j < db.nrTracks(); j++) ordering.push_back(P(j));
for (size_t i = 0; i < db.nrCameras(); i++) {
ordering.push_back(C(i));
if (separateCalibration) ordering.push_back(K(i));
}

2
timing/timeSFMBALautodiff.cpp
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@ -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;

2
timing/timeSFMBALcamTnav.cpp
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@ -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;

2
timing/timeSFMBALnavTcam.cpp
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@ -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;

2
timing/timeSFMBALsmart.cpp
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@ -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;