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

changing to boost shared_ptr

release/4.3a0
Akshay Krishnan 2020-09-19 08:36:49 +00:00
parent 1ed651b1a2
commit 6c14605ed0
4 changed files with 19 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gtsam/gtsam.i
View File

@ -3114,16 +3114,16 @@ class KeyPairDoubleMap {
size_t size() const;
bool empty() const;
void clear();
size_t at(pair<size_t, size_t>) const;
size_t at(const pair<size_t, size_t>& keypair) const;
};
class MFAS {
MFAS(const KeyVector*& nodes,
MFAS(const gtsam::KeyVector* nodes,
const gtsam::BinaryMeasurementsUnit3& relativeTranslations,
const gtsam::Unit3& projectionDirection);
KeyPairDoubleMap computeOutlierWeights() const;
KeyVector computeOrdering() const;
gtsam::KeyPairDoubleMap computeOutlierWeights() const;
gtsam::KeyVector computeOrdering() const;
};
#include <gtsam/sfm/TranslationRecovery.h>

4
gtsam/sfm/MFAS.cpp
View File

@ -7,6 +7,8 @@
#include <gtsam/sfm/MFAS.h>
#include <boost/shared_ptr.hpp>
#include <algorithm>
#include <map>
#include <unordered_map>
@ -111,7 +113,7 @@ void removeNodeFromGraph(const Key node,
graph.erase(node);
}
MFAS::MFAS(const std::shared_ptr<vector<Key>>& nodes,
MFAS::MFAS(const boost::shared_ptr<vector<Key>> nodes,
const TranslationEdges& relativeTranslations,
const Unit3& projectionDirection)
: nodes_(nodes) {

8
gtsam/sfm/MFAS.h
View File

@ -22,6 +22,8 @@
#include <gtsam/inference/Key.h>
#include <gtsam/sfm/BinaryMeasurement.h>
#include <boost/shared_ptr.hpp>
#include <memory>
#include <unordered_map>
#include <vector>
@ -57,7 +59,7 @@ class MFAS {
private:
// pointer to nodes in the graph
const std::shared_ptr<std::vector<Key>> nodes_;
const boost::shared_ptr<std::vector<Key>> nodes_;
// edges with a direction such that all weights are positive
// i.e, edges that originally had negative weights are flipped
@ -74,7 +76,7 @@ class MFAS {
* @param nodes: Nodes in the graph
* @param edgeWeights: weights of edges in the graph
*/
MFAS(const std::shared_ptr<std::vector<Key>> &nodes,
MFAS(const boost::shared_ptr<std::vector<Key>> nodes,
const std::map<KeyPair, double> &edgeWeights)
: nodes_(nodes), edgeWeights_(edgeWeights) {}
@ -88,7 +90,7 @@ class MFAS {
* @param relativeTranslations translation directions between the cameras
* @param projectionDirection direction in which edges are to be projected
*/
MFAS(const std::shared_ptr<std::vector<Key>> &nodes,
MFAS(const boost::shared_ptr<std::vector<Key>> nodes,
const TranslationEdges &relativeTranslations,
const Unit3 &projectionDirection);

10
gtsam/sfm/tests/testMFAS.cpp
View File

@ -6,9 +6,13 @@
*/
#include <gtsam/sfm/MFAS.h>
#include <iostream>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <CppUnitLite/TestHarness.h>
#include <iostream>
using namespace std;
using namespace gtsam;
@ -46,7 +50,7 @@ map<MFAS::KeyPair, double> getEdgeWeights(const vector<MFAS::KeyPair> &edges,
// test the ordering and the outlierWeights function using weights2 - outlier
// edge is rejected when projected in a direction that gives weights2
TEST(MFAS, OrderingWeights2) {
MFAS mfas_obj(make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights2));
MFAS mfas_obj(boost::make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights2));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();
@ -76,7 +80,7 @@ TEST(MFAS, OrderingWeights2) {
// weights1 (outlier edge is accepted when projected in a direction that
// produces weights1)
TEST(MFAS, OrderingWeights1) {
MFAS mfas_obj(make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights1));
MFAS mfas_obj(boost::make_shared<vector<Key>>(nodes), getEdgeWeights(edges, weights1));
vector<Key> ordered_nodes = mfas_obj.computeOrdering();