follow Google style guide naming convention for Sfm related data structs

examples/CreateSFMExampleData.cpp

@@ -31,19 +31,19 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
         Cal3Bundler()) {
 
   // Class that will gather all data
-  SfM_Data data;
+  SfmData data;
 
   // Create two cameras
   Rot3 aRb = Rot3::Yaw(M_PI_2);
   Point3 aTb(0.1, 0, 0);
   Pose3 identity, aPb(aRb, aTb);
-  data.cameras.push_back(SfM_Camera(pose1, K));
+  data.cameras.push_back(SfmCamera(pose1, K));
-  data.cameras.push_back(SfM_Camera(pose2, K));
+  data.cameras.push_back(SfmCamera(pose2, K));
 
   for(const Point3& p: P) {
 
     // Create the track
-    SfM_Track track;
+    SfmTrack track;
     track.p = p;
     track.r = 1;
     track.g = 1;

examples/SFMExampleExpressions_bal.cpp

@@ -37,7 +37,7 @@ using namespace noiseModel;
 using symbol_shorthand::C;
 using symbol_shorthand::P;
 
-// An SfM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration
+// An SfmCamera is defined in datase.h as a camera with unknown Cal3Bundler calibration
 // and has a total of 9 free parameters
 
 /* ************************************************************************* */
@@ -49,7 +49,7 @@ int main(int argc, char* argv[]) {
     filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_Data mydata;
+  SfmData mydata;
   readBAL(filename, mydata);
   cout
       << boost::format("read %1% tracks on %2% cameras\n")
@@ -60,9 +60,9 @@ int main(int argc, char* argv[]) {
 
   // Here we don't use a PriorFactor but directly the ExpressionFactor class
   // First, we create an expression to the pose from the first camera
-  Expression<SfM_Camera> camera0_(C(0));
+  Expression<SfmCamera> camera0_(C(0));
   // Then, to get its pose:
-  Pose3_ pose0_(&SfM_Camera::getPose, camera0_);
+  Pose3_ pose0_(&SfmCamera::getPose, camera0_);
   // Finally, we say it should be equal to first guess
   graph.addExpressionFactor(pose0_, mydata.cameras[0].pose(),
       noiseModel::Isotropic::Sigma(6, 0.1));
@@ -78,16 +78,16 @@ int main(int argc, char* argv[]) {
 
   // Simulated measurements from each camera pose, adding them to the factor graph
   size_t j = 0;
-  for(const SfM_Track& track: mydata.tracks) {
+  for(const SfmTrack& track: mydata.tracks) {
     // Leaf expression for j^th point
     Point3_ point_('p', j);
-    for(const SfM_Measurement& m: track.measurements) {
+    for(const SfmMeasurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       // Leaf expression for i^th camera
-      Expression<SfM_Camera> camera_(C(i));
+      Expression<SfmCamera> camera_(C(i));
       // Below an expression for the prediction of the measurement:
-      Point2_ predict_ = project2<SfM_Camera>(camera_, point_);
+      Point2_ predict_ = project2<SfmCamera>(camera_, point_);
       // Again, here we use an ExpressionFactor
       graph.addExpressionFactor(predict_, uv, noise);
     }
@@ -98,9 +98,9 @@ int main(int argc, char* argv[]) {
   Values initial;
   size_t i = 0;
   j = 0;
-  for(const SfM_Camera& camera: mydata.cameras)
+  for(const SfmCamera& camera: mydata.cameras)
     initial.insert(C(i++), camera);
-  for(const SfM_Track& track: mydata.tracks)
+  for(const SfmTrack& track: mydata.tracks)
     initial.insert(P(j++), track.p);
 
   /* Optimize the graph and print results */

examples/SFMExample_bal.cpp

@@ -32,7 +32,7 @@ using symbol_shorthand::P;
 // We will be using a projection factor that ties a SFM_Camera to a 3D point.
 // An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration
 // and has a total of 9 free parameters
-typedef GeneralSFMFactor<SfM_Camera,Point3> MyFactor;
+typedef GeneralSFMFactor<SfmCamera,Point3> MyFactor;
 
 /* ************************************************************************* */
 int main (int argc, char* argv[]) {
@@ -42,7 +42,7 @@ int main (int argc, char* argv[]) {
   if (argc>1) filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_Data mydata;
+  SfmData mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
 
@@ -55,8 +55,8 @@ int main (int argc, char* argv[]) {
 
   // Add measurements to the factor graph
   size_t j = 0;
-  for(const SfM_Track& track: mydata.tracks) {
+  for(const SfmTrack& track: mydata.tracks) {
-    for(const SfM_Measurement& m: track.measurements) {
+    for(const SfmMeasurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.emplace_shared<MyFactor>(uv, noise, C(i), P(j)); // note use of shorthand symbols C and P
@@ -66,14 +66,14 @@ int main (int argc, char* argv[]) {
 
   // Add a prior on pose x1. This indirectly specifies where the origin is.
   // and a prior on the position of the first landmark to fix the scale
-  graph.emplace_shared<PriorFactor<SfM_Camera> >(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1));
+  graph.emplace_shared<PriorFactor<SfmCamera> >(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1));
   graph.emplace_shared<PriorFactor<Point3> >    (P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1));
 
   // Create initial estimate
   Values initial;
   size_t i = 0; j = 0;
-  for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
+  for(const SfmCamera& camera: mydata.cameras) initial.insert(C(i++), camera);
-  for(const SfM_Track& track: mydata.tracks)    initial.insert(P(j++), track.p);
+  for(const SfmTrack& track: mydata.tracks)    initial.insert(P(j++), track.p);
 
   /* Optimize the graph and print results */
   Values result;

examples/SFMExample_bal_COLAMD_METIS.cpp

@@ -37,7 +37,7 @@ using symbol_shorthand::P;
 // We will be using a projection factor that ties a SFM_Camera to a 3D point.
 // An SFM_Camera is defined in datase.h as a camera with unknown Cal3Bundler calibration
 // and has a total of 9 free parameters
-typedef GeneralSFMFactor<SfM_Camera,Point3> MyFactor;
+typedef GeneralSFMFactor<SfmCamera,Point3> MyFactor;
 
 /* ************************************************************************* */
 int main (int argc, char* argv[]) {
@@ -47,7 +47,7 @@ int main (int argc, char* argv[]) {
   if (argc>1) filename = string(argv[1]);
 
   // Load the SfM data from file
-  SfM_Data mydata;
+  SfmData mydata;
   readBAL(filename, mydata);
   cout << boost::format("read %1% tracks on %2% cameras\n") % mydata.number_tracks() % mydata.number_cameras();
 
@@ -60,8 +60,8 @@ int main (int argc, char* argv[]) {
 
   // Add measurements to the factor graph
   size_t j = 0;
-  for(const SfM_Track& track: mydata.tracks) {
+  for(const SfmTrack& track: mydata.tracks) {
-    for(const SfM_Measurement& m: track.measurements) {
+    for(const SfmMeasurement& m: track.measurements) {
       size_t i = m.first;
       Point2 uv = m.second;
       graph.emplace_shared<MyFactor>(uv, noise, C(i), P(j)); // note use of shorthand symbols C and P
@@ -71,14 +71,14 @@ int main (int argc, char* argv[]) {
 
   // Add a prior on pose x1. This indirectly specifies where the origin is.
   // and a prior on the position of the first landmark to fix the scale
-  graph.emplace_shared<PriorFactor<SfM_Camera> >(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1));
+  graph.emplace_shared<PriorFactor<SfmCamera> >(C(0), mydata.cameras[0],  noiseModel::Isotropic::Sigma(9, 0.1));
   graph.emplace_shared<PriorFactor<Point3> >(P(0), mydata.tracks[0].p, noiseModel::Isotropic::Sigma(3, 0.1));
 
   // Create initial estimate
   Values initial;
   size_t i = 0; j = 0;
-  for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
+  for(const SfmCamera& camera: mydata.cameras) initial.insert(C(i++), camera);
-  for(const SfM_Track& track: mydata.tracks)    initial.insert(P(j++), track.p);
+  for(const SfmTrack& track: mydata.tracks)    initial.insert(P(j++), track.p);
 
   /** ---------------  COMPARISON  -----------------------**/
   /** ----------------------------------------------------**/

gtsam.h

@@ -2724,18 +2724,18 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam/slam/dataset.h>
-class SfM_Track {
+class SfmTrack {
   size_t number_measurements() const;
   pair<size_t, gtsam::Point2> measurement(size_t idx) const;
-  pair<size_t, size_t> SIFT_index(size_t idx) const;
+  pair<size_t, size_t> siftIndex(size_t idx) const;
 };
 
-class SfM_Data {
+class SfmData {
   size_t number_cameras() const;
   size_t number_tracks() const;
   //TODO(Varun) Need to fix issue #237 first before this can work
   // gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const;
-  gtsam::SfM_Track track(size_t idx) const;
+  gtsam::SfmTrack track(size_t idx) const;
 };
 
 string findExampleDataFile(string name);

gtsam/slam/dataset.cpp

@@ -646,7 +646,7 @@ Pose3 gtsam2openGL(const Pose3& PoseGTSAM) {
 }
 
 /* ************************************************************************* */
-bool readBundler(const string& filename, SfM_Data &data) {
+bool readBundler(const string& filename, SfmData &data) {
   // Load the data file
   ifstream is(filename.c_str(), ifstream::in);
   if (!is) {
@@ -697,7 +697,7 @@ bool readBundler(const string& filename, SfM_Data &data) {
   // Get the information for the 3D points
   data.tracks.reserve(nrPoints);
   for (size_t j = 0; j < nrPoints; j++) {
-    SfM_Track track;
+    SfmTrack track;
 
     // Get the 3D position
     float x, y, z;
@@ -733,7 +733,7 @@ bool readBundler(const string& filename, SfM_Data &data) {
 }
 
 /* ************************************************************************* */
-bool readBAL(const string& filename, SfM_Data &data) {
+bool readBAL(const string& filename, SfmData &data) {
   // Load the data file
   ifstream is(filename.c_str(), ifstream::in);
   if (!is) {
@@ -781,7 +781,7 @@ bool readBAL(const string& filename, SfM_Data &data) {
     // Get the 3D position
     float x, y, z;
     is >> x >> y >> z;
-    SfM_Track& track = data.tracks[j];
+    SfmTrack& track = data.tracks[j];
     track.p = Point3(x, y, z);
     track.r = 0.4f;
     track.g = 0.4f;
@@ -793,7 +793,7 @@ bool readBAL(const string& filename, SfM_Data &data) {
 }
 
 /* ************************************************************************* */
-bool writeBAL(const string& filename, SfM_Data &data) {
+bool writeBAL(const string& filename, SfmData &data) {
   // Open the output file
   ofstream os;
   os.open(filename.c_str());
@@ -815,7 +815,7 @@ bool writeBAL(const string& filename, SfM_Data &data) {
   os << endl;
 
   for (size_t j = 0; j < data.number_tracks(); j++) { // for each 3D point j
-    const SfM_Track& track = data.tracks[j];
+    const SfmTrack& track = data.tracks[j];
 
     for (size_t k = 0; k < track.number_measurements(); k++) { // for each observation of the 3D point j
       size_t i = track.measurements[k].first; // camera id
@@ -866,12 +866,12 @@ bool writeBAL(const string& filename, SfM_Data &data) {
   return true;
 }
 
-bool writeBALfromValues(const string& filename, const SfM_Data &data,
+bool writeBALfromValues(const string& filename, const SfmData &data,
     Values& values) {
   using Camera = PinholeCamera<Cal3Bundler>;
-  SfM_Data dataValues = data;
+  SfmData dataValues = data;
 
-  // Store poses or cameras in SfM_Data
+  // Store poses or cameras in SfmData
   size_t nrPoses = values.count<Pose3>();
   if (nrPoses == dataValues.number_cameras()) { // we only estimated camera poses
     for (size_t i = 0; i < dataValues.number_cameras(); i++) { // for each camera
@@ -899,7 +899,7 @@ bool writeBALfromValues(const string& filename, const SfM_Data &data,
     }
   }
 
-  // Store 3D points in SfM_Data
+  // Store 3D points in SfmData
   size_t nrPoints = values.count<Point3>(), nrTracks = dataValues.number_tracks();
   if (nrPoints != nrTracks) {
     cout
@@ -921,24 +921,24 @@ bool writeBALfromValues(const string& filename, const SfM_Data &data,
     }
   }
 
-  // Write SfM_Data to file
+  // Write SfmData to file
   return writeBAL(filename, dataValues);
 }
 
-Values initialCamerasEstimate(const SfM_Data& db) {
+Values initialCamerasEstimate(const SfmData& db) {
   Values initial;
   size_t i = 0; // NO POINTS:  j = 0;
-  for(const SfM_Camera& camera: db.cameras)
+  for(const SfmCamera& camera: db.cameras)
     initial.insert(i++, camera);
   return initial;
 }
 
-Values initialCamerasAndPointsEstimate(const SfM_Data& db) {
+Values initialCamerasAndPointsEstimate(const SfmData& db) {
   Values initial;
   size_t i = 0, j = 0;
-  for(const SfM_Camera& camera: db.cameras)
+  for(const SfmCamera& camera: db.cameras)
     initial.insert((i++), camera);
-  for(const SfM_Track& track: db.tracks)
+  for(const SfmTrack& track: db.tracks)
     initial.insert(P(j++), track.p);
   return initial;
 }

gtsam/slam/dataset.h

@@ -166,41 +166,39 @@ GTSAM_EXPORT std::map<Key, Pose3> parse3DPoses(const std::string& filename);
 GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);
 
 /// A measurement with its camera index
-typedef std::pair<size_t, Point2> SfM_Measurement;
+typedef std::pair<size_t, Point2> SfmMeasurement;
 
-/// SfM_Track
+/// SfmTrack
-typedef std::pair<size_t, size_t> SIFT_Index;
+typedef std::pair<size_t, size_t> SiftIndex;
 
 /// Define the structure for the 3D points
-struct SfM_Track {
+struct SfmTrack {
-  /// Construct empty track
+  SfmTrack(): p(0,0,0) {}
-  SfM_Track(): p(0,0,0) {}
   Point3 p; ///< 3D position of the point
   float r, g, b; ///< RGB color of the 3D point
-  std::vector<SfM_Measurement> measurements; ///< The 2D image projections (id,(u,v))
+  std::vector<SfmMeasurement> measurements; ///< The 2D image projections (id,(u,v))
-  std::vector<SIFT_Index> siftIndices;
+  std::vector<SiftIndex> siftIndices;
   /// Total number of measurements in this track
   size_t number_measurements() const {
     return measurements.size();
   }
   /// Get the measurement (camera index, Point2) at pose index `idx`
-  SfM_Measurement measurement(size_t idx) const {
+  SfmMeasurement measurement(size_t idx) const {
     return measurements[idx];
   }
   /// Get the SIFT feature index corresponding to the measurement at `idx`
-  SIFT_Index SIFT_index(size_t idx) const {
+  SiftIndex siftIndex(size_t idx) const {
     return siftIndices[idx];
   }
 };
 
 /// Define the structure for the camera poses
-typedef PinholeCamera<Cal3Bundler> SfM_Camera;
+typedef PinholeCamera<Cal3Bundler> SfmCamera;
 
 /// Define the structure for SfM data
-struct SfM_Data {
+struct SfmData {
-  std::vector<SfM_Camera> cameras; ///< Set of cameras
+  std::vector<SfmCamera> cameras; ///< Set of cameras
-  std::vector<SfM_Track> tracks; ///< Sparse set of points
+  std::vector<SfmTrack> tracks; ///< Sparse set of points
-  /// The number of camera poses
   size_t number_cameras() const {
     return cameras.size();
   }
@@ -209,48 +207,54 @@ struct SfM_Data {
     return tracks.size();
   }
   /// The camera pose at frame index `idx`
-  SfM_Camera camera(size_t idx) const {
+  SfmCamera camera(size_t idx) const {
     return cameras[idx];
   }
   /// The track formed by series of landmark measurements
-  SfM_Track track(size_t idx) const {
+  SfmTrack track(size_t idx) const {
     return tracks[idx];
   }
 };
 
-/// Alias for backwards compatibility
+/// Aliases for backwards compatibility
-typedef SfM_Data SfM_data;
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
+typedef SfmMeasurement SfM_Measurement;
+typedef SiftIndex SIFT_Index;
+typedef SfmTrack SfM_Track;
+typedef SfmCamera SfM_Camera;
+typedef SfmData SfM_data;
+#endif
 
 /**
  * @brief This function parses a bundler output file and stores the data into a
- * SfM_Data structure
+ * SfmData structure
  * @param filename The name of the bundler file
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool readBundler(const std::string& filename, SfM_Data &data);
+GTSAM_EXPORT bool readBundler(const std::string& filename, SfmData &data);
 
 /**
  * @brief This function parses a "Bundle Adjustment in the Large" (BAL) file and stores the data into a
- * SfM_Data structure
+ * SfmData structure
  * @param filename The name of the BAL file
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool readBAL(const std::string& filename, SfM_Data &data);
+GTSAM_EXPORT bool readBAL(const std::string& filename, SfmData &data);
 
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
- * SfM_Data structure
+ * SfmData structure
  * @param filename The name of the BAL file to write
  * @param data SfM structure where the data is stored
  * @return true if the parsing was successful, false otherwise
  */
-GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data);
+GTSAM_EXPORT bool writeBAL(const std::string& filename, SfmData &data);
 
 /**
  * @brief This function writes a "Bundle Adjustment in the Large" (BAL) file from a
- * SfM_Data structure and a value structure (measurements are the same as the SfM input data,
+ * SfmData structure and a value structure (measurements are the same as the SfM input data,
  * while camera poses and values are read from Values)
  * @param filename The name of the BAL file to write
  * @param data SfM structure where the data is stored
@@ -260,7 +264,7 @@ GTSAM_EXPORT bool writeBAL(const std::string& filename, SfM_Data &data);
  * @return true if the parsing was successful, false otherwise
  */
 GTSAM_EXPORT bool writeBALfromValues(const std::string& filename,
-    const SfM_Data &data, Values& values);
+    const SfmData &data, Values& values);
 
 /**
  * @brief This function converts an openGL camera pose to an GTSAM camera pose
@@ -291,16 +295,16 @@ GTSAM_EXPORT Pose3 gtsam2openGL(const Pose3& PoseGTSAM);
 
 /**
  * @brief This function creates initial values for cameras from db
- * @param SfM_Data
+ * @param SfmData
  * @return Values
  */
-GTSAM_EXPORT Values initialCamerasEstimate(const SfM_Data& db);
+GTSAM_EXPORT Values initialCamerasEstimate(const SfmData& db);
 
 /**
  * @brief This function creates initial values for cameras and points from db
- * @param SfM_Data
+ * @param SfmData
  * @return Values
  */
-GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfM_Data& db);
+GTSAM_EXPORT Values initialCamerasAndPointsEstimate(const SfmData& db);
 
 } // namespace gtsam

gtsam/slam/tests/testDataset.cpp

@@ -106,18 +106,18 @@ TEST( dataSet, Balbianello)
 {
   ///< The structure where we will save the SfM data
   const string filename = findExampleDataFile("Balbianello");
-  SfM_Data mydata;
+  SfmData mydata;
   CHECK(readBundler(filename, mydata));
 
   // Check number of things
   EXPECT_LONGS_EQUAL(5,mydata.number_cameras());
   EXPECT_LONGS_EQUAL(544,mydata.number_tracks());
-  const SfM_Track& track0 = mydata.tracks[0];
+  const SfmTrack& track0 = mydata.tracks[0];
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
-  const SfM_Camera& camera0 = mydata.cameras[0];
+  const SfmCamera& camera0 = mydata.cameras[0];
   Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
   EXPECT(assert_equal(expected,actual,1));
 }
@@ -389,18 +389,18 @@ TEST( dataSet, readBAL_Dubrovnik)
 {
   ///< The structure where we will save the SfM data
   const string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_Data mydata;
+  SfmData mydata;
   CHECK(readBAL(filename, mydata));
 
   // Check number of things
   EXPECT_LONGS_EQUAL(3,mydata.number_cameras());
   EXPECT_LONGS_EQUAL(7,mydata.number_tracks());
-  const SfM_Track& track0 = mydata.tracks[0];
+  const SfmTrack& track0 = mydata.tracks[0];
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
-  const SfM_Camera& camera0 = mydata.cameras[0];
+  const SfmCamera& camera0 = mydata.cameras[0];
   Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 }
@@ -444,7 +444,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
 {
   ///< Read a file using the unit tested readBAL
   const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_Data readData;
+  SfmData readData;
   readBAL(filenameToRead, readData);
 
   // Write readData to file filenameToWrite
@@ -452,7 +452,7 @@ TEST( dataSet, writeBAL_Dubrovnik)
   CHECK(writeBAL(filenameToWrite, readData));
 
   // Read what we wrote
-  SfM_Data writtenData;
+  SfmData writtenData;
   CHECK(readBAL(filenameToWrite, writtenData));
 
   // Check that what we read is the same as what we wrote
@@ -467,8 +467,8 @@ TEST( dataSet, writeBAL_Dubrovnik)
 
   for (size_t j = 0; j < readData.number_tracks(); j++){
     // check point
-    SfM_Track expectedTrack  = writtenData.tracks[j];
+    SfmTrack expectedTrack  = writtenData.tracks[j];
-    SfM_Track actualTrack = readData.tracks[j];
+    SfmTrack actualTrack = readData.tracks[j];
     Point3 expectedPoint = expectedTrack.p;
     Point3 actualPoint = actualTrack.p;
     EXPECT(assert_equal(expectedPoint,actualPoint));
@@ -492,7 +492,7 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
 
   ///< Read a file using the unit tested readBAL
   const string filenameToRead = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_Data readData;
+  SfmData readData;
   readBAL(filenameToRead, readData);
 
   Pose3 poseChange = Pose3(Rot3::Ypr(-M_PI/10, 0., -M_PI/10), gtsam::Point3(0.3,0.1,0.3));
@@ -514,19 +514,19 @@ TEST( dataSet, writeBALfromValues_Dubrovnik){
   writeBALfromValues(filenameToWrite, readData, value);
 
   // Read the file we wrote
-  SfM_Data writtenData;
+  SfmData writtenData;
   readBAL(filenameToWrite, writtenData);
 
   // Check that the reprojection errors are the same and the poses are correct
   // Check number of things
   EXPECT_LONGS_EQUAL(3,writtenData.number_cameras());
   EXPECT_LONGS_EQUAL(7,writtenData.number_tracks());
-  const SfM_Track& track0 = writtenData.tracks[0];
+  const SfmTrack& track0 = writtenData.tracks[0];
   EXPECT_LONGS_EQUAL(3,track0.number_measurements());
 
   // Check projection of a given point
   EXPECT_LONGS_EQUAL(0,track0.measurements[0].first);
-  const SfM_Camera& camera0 = writtenData.cameras[0];
+  const SfmCamera& camera0 = writtenData.cameras[0];
   Point2 expected = camera0.project(track0.p), actual = track0.measurements[0].second;
   EXPECT(assert_equal(expected,actual,12));
 

gtsam/slam/tests/testEssentialMatrixFactor.cpp

@@ -34,7 +34,7 @@ gtsam::Rot3 cRb = gtsam::Rot3(bX, bZ, -bY).inverse();
 namespace example1 {
 
 const string filename = findExampleDataFile("5pointExample1.txt");
-SfM_Data data;
+SfmData data;
 bool readOK = readBAL(filename, data);
 Rot3 c1Rc2 = data.cameras[1].pose().rotation();
 Point3 c1Tc2 = data.cameras[1].pose().translation();
@@ -357,7 +357,7 @@ TEST (EssentialMatrixFactor3, minimization) {
 namespace example2 {
 
 const string filename = findExampleDataFile("5pointExample2.txt");
-SfM_Data data;
+SfmData data;
 bool readOK = readBAL(filename, data);
 Rot3 aRb = data.cameras[1].pose().rotation();
 Point3 aTb = data.cameras[1].pose().translation();

gtsam/slam/tests/testSmartProjectionFactor.cpp

@@ -281,14 +281,14 @@ TEST(SmartProjectionFactor, perturbPoseAndOptimizeFromSfM_tracks ) {
 
   KeyVector views {c1, c2, c3};
 
-  SfM_Track track1;
+  SfmTrack track1;
   for (size_t i = 0; i < 3; ++i) {
     track1.measurements.emplace_back(i + 1, measurements_cam1.at(i));
   }
   SmartFactor::shared_ptr smartFactor1(new SmartFactor(unit2));
   smartFactor1->add(track1);
 
-  SfM_Track track2;
+  SfmTrack track2;
   for (size_t i = 0; i < 3; ++i) {
     track2.measurements.emplace_back(i + 1, measurements_cam2.at(i));
   }

tests/testGeneralSFMFactorB.cpp

@@ -42,7 +42,7 @@ using symbol_shorthand::P;
 /* ************************************************************************* */
 TEST(PinholeCamera, BAL) {
   string filename = findExampleDataFile("dubrovnik-3-7-pre");
-  SfM_Data db;
+  SfmData db;
   bool success = readBAL(filename, db);
   if (!success) throw runtime_error("Could not access file!");
 
@@ -50,7 +50,7 @@ TEST(PinholeCamera, BAL) {
   NonlinearFactorGraph graph;
 
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    for (const SfM_Measurement& m: db.tracks[j].measurements)
+    for (const SfmMeasurement& m: db.tracks[j].measurements)
       graph.emplace_shared<sfmFactor>(m.second, unit2, m.first, P(j));
   }
 

timing/timeSFMBAL.cpp

@@ -32,12 +32,12 @@ typedef GeneralSFMFactor<Camera, Point3> SfmFactor;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_Data db = preamble(argc, argv);
+  SfmData db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    for (const SfM_Measurement& m: db.tracks[j].measurements) {
+    for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       graph.emplace_shared<SfmFactor>(z, gNoiseModel, C(i), P(j));
@@ -46,9 +46,9 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  for (const SfM_Camera& camera: db.cameras)
+  for (const SfmCamera& camera: db.cameras)
     initial.insert(C(i++), camera);
-  for (const SfM_Track& track: db.tracks)
+  for (const SfmTrack& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   return optimize(db, graph, initial);

timing/timeSFMBAL.h

@@ -38,7 +38,7 @@ static bool gUseSchur = true;
 static SharedNoiseModel gNoiseModel = noiseModel::Unit::Create(2);
 
 // parse options and read BAL file
-SfM_Data preamble(int argc, char* argv[]) {
+SfmData preamble(int argc, char* argv[]) {
   // primitive argument parsing:
   if (argc > 2) {
     if (strcmp(argv[1], "--colamd"))
@@ -48,7 +48,7 @@ SfM_Data preamble(int argc, char* argv[]) {
   }
 
   // Load BAL file
-  SfM_Data db;
+  SfmData db;
   string filename;
   if (argc > 1)
     filename = argv[argc - 1];
@@ -60,7 +60,7 @@ SfM_Data preamble(int argc, char* argv[]) {
 }
 
 // Create ordering and optimize
-int optimize(const SfM_Data& db, const NonlinearFactorGraph& graph,
+int optimize(const SfmData& db, const NonlinearFactorGraph& graph,
              const Values& initial, bool separateCalibration = false) {
   using symbol_shorthand::P;
 

timing/timeSFMBALautodiff.cpp

@@ -38,14 +38,14 @@ typedef PinholeCamera<Cal3Bundler> Camera;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_Data db = preamble(argc, argv);
+  SfmData db = preamble(argc, argv);
 
   AdaptAutoDiff<SnavelyProjection, 2, 9, 3> snavely;
 
   // Build graph
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    for (const SfM_Measurement& m: db.tracks[j].measurements) {
+    for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Expression<Vector9> camera_(C(i));
@@ -58,14 +58,14 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  for (const SfM_Camera& camera: db.cameras) {
+  for (const SfmCamera& camera: db.cameras) {
     // readBAL converts to GTSAM format, so we need to convert back !
     Pose3 openGLpose = gtsam2openGL(camera.pose());
     Vector9 v9;
     v9 << Pose3::Logmap(openGLpose), camera.calibration();
     initial.insert(C(i++), v9);
   }
-  for (const SfM_Track& track: db.tracks) {
+  for (const SfmTrack& track: db.tracks) {
     Vector3 v3 = track.p;
     initial.insert(P(j++), v3);
   }

timing/timeSFMBALcamTnav.cpp

@@ -29,12 +29,12 @@ using namespace gtsam;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_Data db = preamble(argc, argv);
+  SfmData db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
-    for (const SfM_Measurement& m: db.tracks[j].measurements) {
+    for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Pose3_ camTnav_(C(i));
@@ -49,12 +49,12 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  for (const SfM_Camera& camera: db.cameras) {
+  for (const SfmCamera& camera: db.cameras) {
     initial.insert(C(i), camera.pose().inverse());  // inverse !!!
     initial.insert(K(i), camera.calibration());
     i += 1;
   }
-  for (const SfM_Track& track: db.tracks)
+  for (const SfmTrack& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   bool separateCalibration = true;

timing/timeSFMBALnavTcam.cpp

@@ -29,13 +29,13 @@ using namespace gtsam;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_Data db = preamble(argc, argv);
+  SfmData db = preamble(argc, argv);
 
   // Build graph using conventional GeneralSFMFactor
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
     Point3_ nav_point_(P(j));
-    for (const SfM_Measurement& m: db.tracks[j].measurements) {
+    for (const SfmMeasurement& m: db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       Pose3_ navTcam_(C(i));
@@ -49,12 +49,12 @@ int main(int argc, char* argv[]) {
 
   Values initial;
   size_t i = 0, j = 0;
-  for (const SfM_Camera& camera: db.cameras) {
+  for (const SfmCamera& camera: db.cameras) {
     initial.insert(C(i), camera.pose());
     initial.insert(K(i), camera.calibration());
     i += 1;
   }
-  for (const SfM_Track& track: db.tracks)
+  for (const SfmTrack& track: db.tracks)
     initial.insert(P(j++), track.p);
 
   bool separateCalibration = true;

timing/timeSFMBALsmart.cpp

@@ -31,13 +31,13 @@ typedef SmartProjectionFactor<Camera> SfmFactor;
 
 int main(int argc, char* argv[]) {
   // parse options and read BAL file
-  SfM_Data db = preamble(argc, argv);
+  SfmData db = preamble(argc, argv);
 
   // Add smart factors to graph
   NonlinearFactorGraph graph;
   for (size_t j = 0; j < db.number_tracks(); j++) {
     auto smartFactor = boost::make_shared<SfmFactor>(gNoiseModel);
-    for (const SfM_Measurement& m : db.tracks[j].measurements) {
+    for (const SfmMeasurement& m : db.tracks[j].measurements) {
       size_t i = m.first;
       Point2 z = m.second;
       smartFactor->add(z, C(i));
@@ -48,7 +48,7 @@ int main(int argc, char* argv[]) {
   Values initial;
   size_t i = 0;
   gUseSchur = false;
-  for (const SfM_Camera& camera : db.cameras)
+  for (const SfmCamera& camera : db.cameras)
     initial.insert(C(i++), camera);
 
   return optimize(db, graph, initial);