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fixed header bloat

release/4.3a0
dellaert 2014-03-02 13:34:43 -05:00
parent 68401cf216
commit 7b93cd207c
3 changed files with 18 additions and 27 deletions
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11
gtsam_unstable/geometry/tests/testTriangulation.cpp
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@ -16,19 +16,12 @@
* Author: cbeall3 * Author: cbeall3
*/ */
#include <CppUnitLite/TestHarness.h>
#include <gtsam/base/Testable.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam_unstable/geometry/InvDepthCamera3.h>
#include <gtsam_unstable/geometry/triangulation.h> #include <gtsam_unstable/geometry/triangulation.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <CppUnitLite/TestHarness.h>
#include <boost/assign.hpp> #include <boost/assign.hpp>
#include <boost/assign/std/vector.hpp> #include <boost/assign/std/vector.hpp>
#include <boost/make_shared.hpp>
using namespace std; using namespace std;
using namespace gtsam; using namespace gtsam;

3
gtsam_unstable/geometry/triangulation.cpp
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@ -18,6 +18,9 @@
#include <gtsam_unstable/geometry/triangulation.h> #include <gtsam_unstable/geometry/triangulation.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
namespace gtsam { namespace gtsam {
/** /**

21
gtsam_unstable/geometry/triangulation.h
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@ -18,19 +18,11 @@
#pragma once #pragma once
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/ProjectionFactor.h> #include <gtsam/slam/ProjectionFactor.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam_unstable/base/dllexport.h> #include <gtsam_unstable/base/dllexport.h>
#include <gtsam/slam/PriorFactor.h>
#include <boost/foreach.hpp>
#include <boost/assign.hpp>
#include <boost/assign/std/vector.hpp>
#include <vector> #include <vector>
@ -60,7 +52,9 @@ public:
* @param rank_tol SVD rank tolerance * @param rank_tol SVD rank tolerance
* @return Triangulated Point3 * @return Triangulated Point3
*/ */
GTSAM_UNSTABLE_EXPORT Point3 triangulateDLT(const std::vector<Matrix>& projection_matrices, const std::vector<Point2>& measurements, double rank_tol); GTSAM_UNSTABLE_EXPORT Point3 triangulateDLT(
const std::vector<Matrix>& projection_matrices,
const std::vector<Point2>& measurements, double rank_tol);
// Frank says: putting priors on poses and then optimizing is a terrible idea: we turn a 3dof problem into a much more difficult problem // Frank says: putting priors on poses and then optimizing is a terrible idea: we turn a 3dof problem into a much more difficult problem
// We should have a projectionfactor that knows pose is fixed // We should have a projectionfactor that knows pose is fixed
@ -135,7 +129,8 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
* @param landmarkKey to refer to landmark * @param landmarkKey to refer to landmark
* @return refined Point3 * @return refined Point3
*/ */
GTSAM_UNSTABLE_EXPORT Point3 optimize(const NonlinearFactorGraph& graph, const Values& values, Key landmarkKey); GTSAM_UNSTABLE_EXPORT Point3 optimize(const NonlinearFactorGraph& graph,
const Values& values, Key landmarkKey);
/** /**
* Given an initial estimate , refine a point using measurements in several cameras * Given an initial estimate , refine a point using measurements in several cameras