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reverted all changes back to master

release/4.3a0
lcarlone 2021-08-25 20:35:18 -04:00
parent db2a9151e5
commit 8d9ede8285
1 changed files with 16 additions and 19 deletions
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35
gtsam/slam/SmartProjectionPoseFactor.h
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */ * -------------------------------------------------------------------------- */
/** /**
* @file SmartProjectionFactorP.h * @file SmartProjectionPoseFactor.h
* @brief Smart factor on poses, assuming camera calibration is fixed * @brief Smart factor on poses, assuming camera calibration is fixed
* @author Luca Carlone * @author Luca Carlone
* @author Chris Beall * @author Chris Beall
@ -41,14 +41,14 @@ namespace gtsam {
* If the calibration should be optimized, as well, use SmartProjectionFactor instead! * If the calibration should be optimized, as well, use SmartProjectionFactor instead!
* @addtogroup SLAM * @addtogroup SLAM
*/ */
template<class CAMERA> template<class CALIBRATION>
class SmartProjectionFactorP: public SmartProjectionFactor<CAMERA> { class SmartProjectionPoseFactor: public SmartProjectionFactor<
PinholePose<CALIBRATION> > {
private: private:
typedef SmartProjectionFactor<CAMERA> Base; typedef PinholePose<CALIBRATION> Camera;
typedef SmartProjectionFactorP<CAMERA> This; typedef SmartProjectionFactor<Camera> Base;
typedef CAMERA Camera; typedef SmartProjectionPoseFactor<CALIBRATION> This;
typedef typename CAMERA::CalibrationType CALIBRATION;
protected: protected:
@ -62,7 +62,7 @@ public:
/** /**
* Default constructor, only for serialization * Default constructor, only for serialization
*/ */
SmartProjectionFactorP() {} SmartProjectionPoseFactor() {}
/** /**
* Constructor * Constructor
@ -70,7 +70,7 @@ public:
* @param K (fixed) calibration, assumed to be the same for all cameras * @param K (fixed) calibration, assumed to be the same for all cameras
* @param params parameters for the smart projection factors * @param params parameters for the smart projection factors
*/ */
SmartProjectionFactorP( SmartProjectionPoseFactor(
const SharedNoiseModel& sharedNoiseModel, const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K, const boost::shared_ptr<CALIBRATION> K,
const SmartProjectionParams& params = SmartProjectionParams()) const SmartProjectionParams& params = SmartProjectionParams())
@ -84,17 +84,17 @@ public:
* @param body_P_sensor pose of the camera in the body frame (optional) * @param body_P_sensor pose of the camera in the body frame (optional)
* @param params parameters for the smart projection factors * @param params parameters for the smart projection factors
*/ */
SmartProjectionFactorP( SmartProjectionPoseFactor(
const SharedNoiseModel& sharedNoiseModel, const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K, const boost::shared_ptr<CALIBRATION> K,
const boost::optional<Pose3> body_P_sensor, const boost::optional<Pose3> body_P_sensor,
const SmartProjectionParams& params = SmartProjectionParams()) const SmartProjectionParams& params = SmartProjectionParams())
: SmartProjectionFactorP(sharedNoiseModel, K, params) { : SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
this->body_P_sensor_ = body_P_sensor; this->body_P_sensor_ = body_P_sensor;
} }
/** Virtual destructor */ /** Virtual destructor */
~SmartProjectionFactorP() override { ~SmartProjectionPoseFactor() override {
} }
/** /**
@ -104,7 +104,7 @@ public:
*/ */
void print(const std::string& s = "", const KeyFormatter& keyFormatter = void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const override { DefaultKeyFormatter) const override {
std::cout << s << "SmartProjectionFactorP, z = \n "; std::cout << s << "SmartProjectionPoseFactor, z = \n ";
Base::print("", keyFormatter); Base::print("", keyFormatter);
} }
@ -161,12 +161,9 @@ public:
// end of class declaration // end of class declaration
/// traits /// traits
template<class CAMERA> template<class CALIBRATION>
struct traits<SmartProjectionFactorP<CAMERA> > : public Testable< struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable<
SmartProjectionFactorP<CAMERA> > { SmartProjectionPoseFactor<CALIBRATION> > {
}; };
// legacy smart factor class, only templated on calibration and assuming pinhole
template <class CALIBRATION> using SmartProjectionPoseFactor = SmartProjectionFactorP< PinholePose<CALIBRATION> >;
} // \ namespace gtsam } // \ namespace gtsam