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Naming convention

release/4.3a0
Frank Dellaert 2024-10-26 10:06:45 -07:00
parent 049191fe1d
commit 5eb858b729
2 changed files with 10 additions and 10 deletions
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2
examples/EssentialViewGraphExample.cpp
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@ -11,7 +11,7 @@
/**
* @file EssentialViewGraphExample.cpp
* @brief View-graph calibration on a simulated dataset, a la Sweeney 2015
* @brief View-graph calibration with essential matrices.
* @author Frank Dellaert
* @date October 2024
*/

18
gtsam/sfm/TransferFactor.h
View File

@ -37,22 +37,22 @@ class TransferEdges {
public:
TransferEdges(EdgeKey edge1, EdgeKey edge2)
: edge1_(edge1), edge2_(edge2), c_(viewC(edge1, edge2)) {}
: edge1_(edge1), edge2_(edge2), c_(ViewC(edge1, edge2)) {}
/// Returns the view A index based on the EdgeKeys
static size_t viewA(const EdgeKey& edge1, const EdgeKey& edge2) {
size_t c = viewC(edge1, edge2);
static size_t ViewA(const EdgeKey& edge1, const EdgeKey& edge2) {
size_t c = ViewC(edge1, edge2);
return (edge1.i() == c) ? edge1.j() : edge1.i();
}
/// Returns the view B index based on the EdgeKeys
static size_t viewB(const EdgeKey& edge1, const EdgeKey& edge2) {
size_t c = viewC(edge1, edge2);
static size_t ViewB(const EdgeKey& edge1, const EdgeKey& edge2) {
size_t c = ViewC(edge1, edge2);
return (edge2.i() == c) ? edge2.j() : edge2.i();
}
/// Returns the view C index based on the EdgeKeys
static size_t viewC(const EdgeKey& edge1, const EdgeKey& edge2) {
static size_t ViewC(const EdgeKey& edge1, const EdgeKey& edge2) {
if (edge1.i() == edge2.i() || edge1.i() == edge2.j())
return edge1.i();
else if (edge1.j() == edge2.i() || edge1.j() == edge2.j())
@ -167,9 +167,9 @@ class EssentialTransferFactor
const std::vector<Triplet>& triplets,
const SharedNoiseModel& model = nullptr)
: Base(model, edge1, edge2,
Symbol('k', viewA(edge1, edge2)), // calibration key for view a
Symbol('k', viewB(edge1, edge2)), // calibration key for view b
Symbol('k', viewC(edge1, edge2))), // calibration key for target c
Symbol('k', ViewA(edge1, edge2)), // calibration key for view a
Symbol('k', ViewB(edge1, edge2)), // calibration key for view b
Symbol('k', ViewC(edge1, edge2))), // calibration key for target c
TransferEdges<EM>(edge1, edge2),
triplets_(triplets) {}