12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

fixing vc++14 compile issues

release/4.3a0
Jing Dong 2017-05-18 12:32:29 -07:00
parent ed4a99f620
commit 6b3608cf9a
4 changed files with 23 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
gtsam/geometry/CameraSet.h
View File

@ -209,11 +209,11 @@ public:
bool diagonalDamping = false) {
if (E.cols() == 2) {
Matrix2 P2;
ComputePointCovariance(P2, E, lambda, diagonalDamping);
ComputePointCovariance<2>(P2, E, lambda, diagonalDamping);
return P2;
} else {
Matrix3 P3;
ComputePointCovariance(P3, E, lambda, diagonalDamping);
ComputePointCovariance<3>(P3, E, lambda, diagonalDamping);
return P3;
}
}
@ -227,12 +227,12 @@ public:
bool diagonalDamping = false) {
if (E.cols() == 2) {
Matrix2 P;
ComputePointCovariance(P, E, lambda, diagonalDamping);
return SchurComplement(Fblocks, E, P, b);
ComputePointCovariance<2>(P, E, lambda, diagonalDamping);
return SchurComplement<2>(Fblocks, E, P, b);
} else {
Matrix3 P;
ComputePointCovariance(P, E, lambda, diagonalDamping);
return SchurComplement(Fblocks, E, P, b);
ComputePointCovariance<3>(P, E, lambda, diagonalDamping);
return SchurComplement<3>(Fblocks, E, P, b);
}
}

24
gtsam/geometry/Point3.h
View File

@ -157,28 +157,28 @@ struct traits<const Point3> : public internal::VectorSpace<Point3> {};
// Convenience typedef
typedef std::pair<Point3, Point3> Point3Pair;
std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
/// distance between two points
double distance3(const Point3& p1, const Point3& q,
OptionalJacobian<1, 3> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none);
GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q,
OptionalJacobian<1, 3> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none);
/// Distance of the point from the origin, with Jacobian
double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
GTSAM_EXPORT double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
/// normalize, with optional Jacobian
Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
GTSAM_EXPORT Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
/// cross product @return this x q
Point3 cross(const Point3& p, const Point3& q,
OptionalJacobian<3, 3> H_p = boost::none,
OptionalJacobian<3, 3> H_q = boost::none);
GTSAM_EXPORT Point3 cross(const Point3& p, const Point3& q,
OptionalJacobian<3, 3> H_p = boost::none,
OptionalJacobian<3, 3> H_q = boost::none);
/// dot product
double dot(const Point3& p, const Point3& q,
OptionalJacobian<1, 3> H_p = boost::none,
OptionalJacobian<1, 3> H_q = boost::none);
GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
OptionalJacobian<1, 3> H_p = boost::none,
OptionalJacobian<1, 3> H_q = boost::none);
template <typename A1, typename A2>
struct Range;

8
gtsam/geometry/triangulation.h
View File

@ -28,7 +28,7 @@
namespace gtsam {
/// Exception thrown by triangulateDLT when SVD returns rank < 3
class TriangulationUnderconstrainedException: public std::runtime_error {
class GTSAM_EXPORT TriangulationUnderconstrainedException: public std::runtime_error {
public:
TriangulationUnderconstrainedException() :
std::runtime_error("Triangulation Underconstrained Exception.") {
@ -36,7 +36,7 @@ public:
};
/// Exception thrown by triangulateDLT when landmark is behind one or more of the cameras
class TriangulationCheiralityException: public std::runtime_error {
class GTSAM_EXPORT TriangulationCheiralityException: public std::runtime_error {
public:
TriangulationCheiralityException() :
std::runtime_error(
@ -319,7 +319,7 @@ Point3 triangulatePoint3(
(cameras, measurements, rank_tol, optimize);
}
struct TriangulationParameters {
struct GTSAM_EXPORT TriangulationParameters {
double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate
///< (the rank is the number of singular values of the triangulation matrix which are larger than rankTolerance)
@ -382,7 +382,7 @@ private:
/**
* TriangulationResult is an optional point, along with the reasons why it is invalid.
*/
class TriangulationResult: public boost::optional<Point3> {
class GTSAM_EXPORT TriangulationResult: public boost::optional<Point3> {
enum Status {
VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT
};

2
gtsam/slam/SmartFactorParams.h
View File

@ -39,7 +39,7 @@ enum DegeneracyMode {
/*
* Parameters for the smart (stereo) projection factors
*/
struct GTSAM_EXPORT SmartProjectionParams {
struct SmartProjectionParams {
LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor