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Calibration -> CALIBRATION

release/4.3a0
dellaert 2015-03-05 19:29:47 -08:00
parent 1620b9056a
commit 4a6801cfe1
1 changed files with 23 additions and 23 deletions
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46
gtsam/geometry/PinholePose.h
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@ -30,15 +30,15 @@ namespace gtsam {
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename Calibration> template<typename CALIBRATION>
class GTSAM_EXPORT PinholeBaseK: public PinholeBase { class GTSAM_EXPORT PinholeBaseK: public PinholeBase {
private: private:
GTSAM_CONCEPT_MANIFOLD_TYPE(Calibration); GTSAM_CONCEPT_MANIFOLD_TYPE(CALIBRATION);
// Get dimensions of calibration type at compile time // Get dimensions of calibration type at compile time
static const int DimK = FixedDimension<Calibration>::value; static const int DimK = FixedDimension<CALIBRATION>::value;
public: public:
@ -70,7 +70,7 @@ public:
} }
/// return calibration /// return calibration
virtual const Calibration& calibration() const = 0; virtual const CALIBRATION& calibration() const = 0;
/// @} /// @}
/// @name Transformations and measurement functions /// @name Transformations and measurement functions
@ -235,13 +235,13 @@ private:
* @addtogroup geometry * @addtogroup geometry
* \nosubgrouping * \nosubgrouping
*/ */
template<typename Calibration> template<typename CALIBRATION>
class GTSAM_EXPORT PinholePose: public PinholeBaseK<Calibration> { class GTSAM_EXPORT PinholePose: public PinholeBaseK<CALIBRATION> {
private: private:
typedef PinholeBaseK<Calibration> Base; ///< base class has 3D pose as private member typedef PinholeBaseK<CALIBRATION> Base; ///< base class has 3D pose as private member
boost::shared_ptr<Calibration> K_; ///< shared pointer to fixed calibration boost::shared_ptr<CALIBRATION> K_; ///< shared pointer to fixed calibration
public: public:
@ -258,11 +258,11 @@ public:
/** constructor with pose, uses default calibration */ /** constructor with pose, uses default calibration */
explicit PinholePose(const Pose3& pose) : explicit PinholePose(const Pose3& pose) :
Base(pose), K_(new Calibration()) { Base(pose), K_(new CALIBRATION()) {
} }
/** constructor with pose and calibration */ /** constructor with pose and calibration */
PinholePose(const Pose3& pose, const boost::shared_ptr<Calibration>& K) : PinholePose(const Pose3& pose, const boost::shared_ptr<CALIBRATION>& K) :
Base(pose), K_(K) { Base(pose), K_(K) {
} }
@ -277,14 +277,14 @@ public:
* (theta 0 = looking in direction of positive X axis) * (theta 0 = looking in direction of positive X axis)
* @param height camera height * @param height camera height
*/ */
static PinholePose Level(const boost::shared_ptr<Calibration>& K, static PinholePose Level(const boost::shared_ptr<CALIBRATION>& K,
const Pose2& pose2, double height) { const Pose2& pose2, double height) {
return PinholePose(Base::LevelPose(pose2, height), K); return PinholePose(Base::LevelPose(pose2, height), K);
} }
/// PinholePose::level with default calibration /// PinholePose::level with default calibration
static PinholePose Level(const Pose2& pose2, double height) { static PinholePose Level(const Pose2& pose2, double height) {
return PinholePose::Level(boost::make_shared<Calibration>(), pose2, height); return PinholePose::Level(boost::make_shared<CALIBRATION>(), pose2, height);
} }
/** /**
@ -297,8 +297,8 @@ public:
* @param K optional calibration parameter * @param K optional calibration parameter
*/ */
static PinholePose Lookat(const Point3& eye, const Point3& target, static PinholePose Lookat(const Point3& eye, const Point3& target,
const Point3& upVector, const boost::shared_ptr<Calibration>& K = const Point3& upVector, const boost::shared_ptr<CALIBRATION>& K =
boost::make_shared<Calibration>()) { boost::make_shared<CALIBRATION>()) {
return PinholePose(Base::LookatPose(eye, target, upVector), K); return PinholePose(Base::LookatPose(eye, target, upVector), K);
} }
@ -308,12 +308,12 @@ public:
/// Init from 6D vector /// Init from 6D vector
explicit PinholePose(const Vector &v) : explicit PinholePose(const Vector &v) :
Base(v), K_(new Calibration()) { Base(v), K_(new CALIBRATION()) {
} }
/// Init from Vector and calibration /// Init from Vector and calibration
PinholePose(const Vector &v, const Vector &K) : PinholePose(const Vector &v, const Vector &K) :
Base(v), K_(new Calibration(K)) { Base(v), K_(new CALIBRATION(K)) {
} }
/// @} /// @}
@ -340,7 +340,7 @@ public:
} }
/// return calibration /// return calibration
virtual const Calibration& calibration() const { virtual const CALIBRATION& calibration() const {
return *K_; return *K_;
} }
@ -390,14 +390,14 @@ private:
}; };
// end of class PinholePose // end of class PinholePose
template<typename Calibration> template<typename CALIBRATION>
struct traits<PinholePose<Calibration> > : public internal::Manifold< struct traits<PinholePose<CALIBRATION> > : public internal::Manifold<
PinholePose<Calibration> > { PinholePose<CALIBRATION> > {
}; };
template<typename Calibration> template<typename CALIBRATION>
struct traits<const PinholePose<Calibration> > : public internal::Manifold< struct traits<const PinholePose<CALIBRATION> > : public internal::Manifold<
PinholePose<Calibration> > { PinholePose<CALIBRATION> > {
}; };
} // \ gtsam } // \ gtsam