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

24
gtsam/geometry/Point3.h
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@ -157,28 +157,28 @@ struct traits<const Point3> : public internal::VectorSpace<Point3> {};
// Convenience typedef // Convenience typedef
typedef std::pair<Point3, Point3> Point3Pair; 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 /// distance between two points
double distance3(const Point3& p1, const Point3& q, GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q,
OptionalJacobian<1, 3> H1 = boost::none, OptionalJacobian<1, 3> H1 = boost::none,
OptionalJacobian<1, 3> H2 = boost::none); OptionalJacobian<1, 3> H2 = boost::none);
/// Distance of the point from the origin, with Jacobian /// 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 /// 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 /// cross product @return this x q
Point3 cross(const Point3& p, const Point3& q, GTSAM_EXPORT Point3 cross(const Point3& p, const Point3& q,
OptionalJacobian<3, 3> H_p = boost::none, OptionalJacobian<3, 3> H_p = boost::none,
OptionalJacobian<3, 3> H_q = boost::none); OptionalJacobian<3, 3> H_q = boost::none);
/// dot product /// dot product
double dot(const Point3& p, const Point3& q, GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
OptionalJacobian<1, 3> H_p = boost::none, OptionalJacobian<1, 3> H_p = boost::none,
OptionalJacobian<1, 3> H_q = boost::none); OptionalJacobian<1, 3> H_q = boost::none);
template <typename A1, typename A2> template <typename A1, typename A2>
struct Range; struct Range;

8
gtsam/geometry/triangulation.h
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@ -28,7 +28,7 @@
namespace gtsam { namespace gtsam {
/// Exception thrown by triangulateDLT when SVD returns rank < 3 /// Exception thrown by triangulateDLT when SVD returns rank < 3
class TriangulationUnderconstrainedException: public std::runtime_error { class GTSAM_EXPORT TriangulationUnderconstrainedException: public std::runtime_error {
public: public:
TriangulationUnderconstrainedException() : TriangulationUnderconstrainedException() :
std::runtime_error("Triangulation Underconstrained Exception.") { 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 /// 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: public:
TriangulationCheiralityException() : TriangulationCheiralityException() :
std::runtime_error( std::runtime_error(
@ -319,7 +319,7 @@ Point3 triangulatePoint3(
(cameras, measurements, rank_tol, optimize); (cameras, measurements, rank_tol, optimize);
} }
struct TriangulationParameters { struct GTSAM_EXPORT TriangulationParameters {
double rankTolerance; ///< threshold to decide whether triangulation is result.degenerate 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) ///< (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. * 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 { enum Status {
VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT
}; };

2
gtsam/slam/SmartFactorParams.h
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@ -39,7 +39,7 @@ enum DegeneracyMode {
/* /*
* Parameters for the smart (stereo) projection factors * Parameters for the smart (stereo) projection factors
*/ */
struct GTSAM_EXPORT SmartProjectionParams { struct SmartProjectionParams {
LinearizationMode linearizationMode; ///< How to linearize the factor LinearizationMode linearizationMode; ///< How to linearize the factor
DegeneracyMode degeneracyMode; ///< How to linearize the factor DegeneracyMode degeneracyMode; ///< How to linearize the factor