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Move smart projection factor

release/4.3a0
cbeall3 2014-05-31 15:14:39 -04:00
parent e19f3c5902
commit 87f5818776
15 changed files with 10 additions and 11 deletions
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0
gtsam_unstable/geometry/TriangulationFactor.h → gtsam/geometry/TriangulationFactor.h
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2
gtsam_unstable/geometry/tests/testTriangulation.cpp → gtsam/geometry/tests/testTriangulation.cpp
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@ -16,7 +16,7 @@
* Author: cbeall3 * Author: cbeall3
*/ */
#include <gtsam_unstable/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>

2
gtsam_unstable/geometry/triangulation.cpp → gtsam/geometry/triangulation.cpp
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@ -16,7 +16,7 @@
* @author Chris Beall * @author Chris Beall
*/ */
#include <gtsam_unstable/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>

8
gtsam_unstable/geometry/triangulation.h → gtsam/geometry/triangulation.h
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@ -18,8 +18,8 @@
#pragma once #pragma once
#include <gtsam_unstable/base/dllexport.h>
#include <gtsam_unstable/geometry/TriangulationFactor.h> #include <gtsam/geometry/TriangulationFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/slam/PriorFactor.h> #include <gtsam/slam/PriorFactor.h>
@ -52,7 +52,7 @@ public:
* @param rank_tol SVD rank tolerance * @param rank_tol SVD rank tolerance
* @return Triangulated Point3 * @return Triangulated Point3
*/ */
GTSAM_UNSTABLE_EXPORT Point3 triangulateDLT( GTSAM_EXPORT Point3 triangulateDLT(
const std::vector<Matrix>& projection_matrices, const std::vector<Matrix>& projection_matrices,
const std::vector<Point2>& measurements, double rank_tol); const std::vector<Point2>& measurements, double rank_tol);
@ -120,7 +120,7 @@ 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, GTSAM_EXPORT Point3 optimize(const NonlinearFactorGraph& graph,
const Values& values, Key landmarkKey); const Values& values, Key landmarkKey);
/** /**

0
gtsam_unstable/slam/ImplicitSchurFactor.h → gtsam/slam/ImplicitSchurFactor.h
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0
gtsam_unstable/slam/JacobianFactorQ.h → gtsam/slam/JacobianFactorQ.h
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2
gtsam_unstable/slam/JacobianFactorQR.h → gtsam/slam/JacobianFactorQR.h
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@ -6,7 +6,7 @@
*/ */
#pragma once #pragma once
#include <gtsam_unstable/slam/JacobianSchurFactor.h> #include <gtsam/slam/JacobianSchurFactor.h>
namespace gtsam { namespace gtsam {
/** /**

2
gtsam_unstable/slam/JacobianFactorSVD.h → gtsam/slam/JacobianFactorSVD.h
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@ -5,7 +5,7 @@
*/ */
#pragma once #pragma once
#include "gtsam_unstable/slam/JacobianSchurFactor.h" #include "gtsam/slam/JacobianSchurFactor.h"
namespace gtsam { namespace gtsam {
/** /**

0
gtsam_unstable/slam/JacobianSchurFactor.h → gtsam/slam/JacobianSchurFactor.h
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0
gtsam_unstable/slam/RegularHessianFactor.h → gtsam/slam/RegularHessianFactor.h
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0
gtsam_unstable/slam/SmartFactorBase.h → gtsam/slam/SmartFactorBase.h
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3
gtsam_unstable/slam/SmartProjectionFactor.h → gtsam/slam/SmartProjectionFactor.h
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@ -21,11 +21,10 @@
#include "SmartFactorBase.h" #include "SmartFactorBase.h"
#include <gtsam_unstable/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/Pose3.h> #include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam_unstable/geometry/triangulation.h>
#include <boost/optional.hpp> #include <boost/optional.hpp>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>

0
gtsam_unstable/slam/SmartProjectionPoseFactor.h → gtsam/slam/SmartProjectionPoseFactor.h
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0
gtsam_unstable/slam/tests/testSmartProjectionPoseFactor.cpp → gtsam/slam/tests/testSmartProjectionPoseFactor.cpp
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2
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
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@ -35,7 +35,7 @@
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam_unstable/slam/SmartProjectionPoseFactor.h> #include <gtsam/slam/SmartProjectionPoseFactor.h>
#include <string> #include <string>
#include <fstream> #include <fstream>