Rename TransformProjectionFactor to ProjectionFactorPPP
Chris Beall
parent
2c3f6e563d
commit
50c8313233
|
|
@ -746,13 +746,13 @@ virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
|
|||
};
|
||||
|
||||
#include <gtsam/geometry/Cal3DS2.h>
|
||||
#include <gtsam_unstable/slam/TransformProjectionFactor.h>
|
||||
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
|
||||
template<POSE, LANDMARK, CALIBRATION>
|
||||
virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
|
||||
TransformProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
virtual class ProjectionFactorPPP : gtsam::NoiseModelFactor {
|
||||
ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k);
|
||||
|
||||
TransformProjectionFactor(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
ProjectionFactorPPP(const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel,
|
||||
size_t poseKey, size_t transformKey, size_t pointKey, const CALIBRATION* k, bool throwCheirality, bool verboseCheirality);
|
||||
|
||||
gtsam::Point2 measured() const;
|
||||
|
|
@ -763,8 +763,8 @@ virtual class TransformProjectionFactor : gtsam::NoiseModelFactor {
|
|||
// enabling serialization functionality
|
||||
void serialize() const;
|
||||
};
|
||||
typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> TransformProjectionFactorCal3_S2;
|
||||
typedef gtsam::TransformProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> TransformProjectionFactorCal3DS2;
|
||||
typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> ProjectionFactorPPPCal3_S2;
|
||||
typedef gtsam::ProjectionFactorPPP<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> ProjectionFactorPPPCal3DS2;
|
||||
|
||||
|
||||
#include <gtsam_unstable/slam/ProjectionFactorPPPC.h>
|
||||
|
|
|
|||
|
|
@ -10,18 +10,17 @@
|
|||
* -------------------------------------------------------------------------- */
|
||||
|
||||
/**
|
||||
* @file TransformProjectionFactor.h
|
||||
* @brief Basic bearing factor from 2D measurement
|
||||
* @file ProjectionFactorPPP.h
|
||||
* @brief Derived from ProjectionFactor, but estimates body-camera transform
|
||||
* in addition to body pose and 3D landmark
|
||||
* @author Chris Beall
|
||||
* @author Richard Roberts
|
||||
* @author Frank Dellaert
|
||||
* @author Alex Cunningham
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <gtsam/nonlinear/NonlinearFactor.h>
|
||||
#include <gtsam/geometry/SimpleCamera.h>
|
||||
#include <gtsam/geometry/PinholeCamera.h>
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
#include <boost/optional.hpp>
|
||||
|
||||
namespace gtsam {
|
||||
|
|
@ -32,7 +31,7 @@ namespace gtsam {
|
|||
* @addtogroup SLAM
|
||||
*/
|
||||
template<class POSE, class LANDMARK, class CALIBRATION = Cal3_S2>
|
||||
class TransformProjectionFactor: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
|
||||
class ProjectionFactorPPP: public NoiseModelFactor3<POSE, POSE, LANDMARK> {
|
||||
protected:
|
||||
|
||||
// Keep a copy of measurement and calibration for I/O
|
||||
|
|
@ -49,13 +48,13 @@ namespace gtsam {
|
|||
typedef NoiseModelFactor3<POSE, POSE, LANDMARK> Base;
|
||||
|
||||
/// shorthand for this class
|
||||
typedef TransformProjectionFactor<POSE, LANDMARK, CALIBRATION> This;
|
||||
typedef ProjectionFactorPPP<POSE, LANDMARK, CALIBRATION> This;
|
||||
|
||||
/// shorthand for a smart pointer to a factor
|
||||
typedef boost::shared_ptr<This> shared_ptr;
|
||||
|
||||
/// Default constructor
|
||||
TransformProjectionFactor() : throwCheirality_(false), verboseCheirality_(false) {}
|
||||
ProjectionFactorPPP() : throwCheirality_(false), verboseCheirality_(false) {}
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
|
|
@ -63,10 +62,11 @@ namespace gtsam {
|
|||
* @param measured is the 2 dimensional location of point in image (the measurement)
|
||||
* @param model is the standard deviation
|
||||
* @param poseKey is the index of the camera
|
||||
* @param transformKey is the index of the body-camera transform
|
||||
* @param pointKey is the index of the landmark
|
||||
* @param K shared pointer to the constant calibration
|
||||
*/
|
||||
TransformProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
|
||||
ProjectionFactorPPP(const Point2& measured, const SharedNoiseModel& model,
|
||||
Key poseKey, Key transformKey, Key pointKey,
|
||||
const boost::shared_ptr<CALIBRATION>& K) :
|
||||
Base(model, poseKey, transformKey, pointKey), measured_(measured), K_(K),
|
||||
|
|
@ -83,7 +83,7 @@ namespace gtsam {
|
|||
* @param throwCheirality determines whether Cheirality exceptions are rethrown
|
||||
* @param verboseCheirality determines whether exceptions are printed for Cheirality
|
||||
*/
|
||||
TransformProjectionFactor(const Point2& measured, const SharedNoiseModel& model,
|
||||
ProjectionFactorPPP(const Point2& measured, const SharedNoiseModel& model,
|
||||
Key poseKey, Key transformKey, Key pointKey,
|
||||
const boost::shared_ptr<CALIBRATION>& K,
|
||||
bool throwCheirality, bool verboseCheirality) :
|
||||
|
|
@ -91,7 +91,7 @@ namespace gtsam {
|
|||
throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
|
||||
|
||||
/** Virtual destructor */
|
||||
virtual ~TransformProjectionFactor() {}
|
||||
virtual ~ProjectionFactorPPP() {}
|
||||
|
||||
/// @return a deep copy of this factor
|
||||
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
|
||||
|
|
@ -104,7 +104,7 @@ namespace gtsam {
|
|||
* @param keyFormatter optional formatter useful for printing Symbols
|
||||
*/
|
||||
void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
|
||||
std::cout << s << "TransformProjectionFactor, z = ";
|
||||
std::cout << s << "ProjectionFactorPPP, z = ";
|
||||
measured_.print();
|
||||
Base::print("", keyFormatter);
|
||||
}
|
||||
|
|
@ -11,14 +11,14 @@
|
|||
|
||||
/**
|
||||
* @file testProjectionFactor.cpp
|
||||
* @brief Unit tests for ProjectionFactor Class
|
||||
* @author Frank Dellaert
|
||||
* @date Nov 2009
|
||||
* @brief Unit tests for ProjectionFactorPPP Class
|
||||
* @author Chris Beall
|
||||
* @date July 2014
|
||||
*/
|
||||
|
||||
#include <gtsam/base/numericalDerivative.h>
|
||||
#include <gtsam/base/TestableAssertions.h>
|
||||
#include <gtsam_unstable/slam/TransformProjectionFactor.h>
|
||||
#include <gtsam_unstable/slam/ProjectionFactorPPP.h>
|
||||
#include <gtsam/inference/Symbol.h>
|
||||
#include <gtsam/geometry/Cal3DS2.h>
|
||||
#include <gtsam/geometry/Cal3_S2.h>
|
||||
|
|
@ -46,11 +46,11 @@ using symbol_shorthand::X;
|
|||
using symbol_shorthand::L;
|
||||
using symbol_shorthand::T;
|
||||
|
||||
typedef TransformProjectionFactor<Pose3, Point3> TestProjectionFactor;
|
||||
typedef ProjectionFactorPPP<Pose3, Point3> TestProjectionFactor;
|
||||
|
||||
/* ************************************************************************* */
|
||||
TEST( ProjectionFactor, nonStandard ) {
|
||||
TransformProjectionFactor<Pose3, Point3, Cal3DS2> f;
|
||||
ProjectionFactorPPP<Pose3, Point3, Cal3DS2> f;
|
||||
}
|
||||
|
||||
/* ************************************************************************* */
|
||||
Loading…
Reference in New Issue