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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
* @author Luca Carlone
* @author Chris Beall
@ -41,14 +41,14 @@ namespace gtsam {
* If the calibration should be optimized, as well, use SmartProjectionFactor instead!
* @addtogroup SLAM
*/
template<class CAMERA>
class SmartProjectionFactorP: public SmartProjectionFactor<CAMERA> {
template<class CALIBRATION>
class SmartProjectionPoseFactor: public SmartProjectionFactor<
PinholePose<CALIBRATION> > {
private:
typedef SmartProjectionFactor<CAMERA> Base;
typedef SmartProjectionFactorP<CAMERA> This;
typedef CAMERA Camera;
typedef typename CAMERA::CalibrationType CALIBRATION;
typedef PinholePose<CALIBRATION> Camera;
typedef SmartProjectionFactor<Camera> Base;
typedef SmartProjectionPoseFactor<CALIBRATION> This;
protected:
@ -62,7 +62,7 @@ public:
/**
* Default constructor, only for serialization
*/
SmartProjectionFactorP() {}
SmartProjectionPoseFactor() {}
/**
* Constructor
@ -70,7 +70,7 @@ public:
* @param K (fixed) calibration, assumed to be the same for all cameras
* @param params parameters for the smart projection factors
*/
SmartProjectionFactorP(
SmartProjectionPoseFactor(
const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K,
const SmartProjectionParams& params = SmartProjectionParams())
@ -84,17 +84,17 @@ public:
* @param body_P_sensor pose of the camera in the body frame (optional)
* @param params parameters for the smart projection factors
*/
SmartProjectionFactorP(
SmartProjectionPoseFactor(
const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K,
const boost::optional<Pose3> body_P_sensor,
const SmartProjectionParams& params = SmartProjectionParams())
: SmartProjectionFactorP(sharedNoiseModel, K, params) {
: SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
this->body_P_sensor_ = body_P_sensor;
}
/** Virtual destructor */
~SmartProjectionFactorP() override {
~SmartProjectionPoseFactor() override {
}
/**
@ -104,7 +104,7 @@ public:
*/
void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const override {
std::cout << s << "SmartProjectionFactorP, z = \n ";
std::cout << s << "SmartProjectionPoseFactor, z = \n ";
Base::print("", keyFormatter);
}
@ -161,12 +161,9 @@ public:
// end of class declaration
/// traits
template<class CAMERA>
struct traits<SmartProjectionFactorP<CAMERA> > : public Testable<
SmartProjectionFactorP<CAMERA> > {
template<class CALIBRATION>
struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable<
SmartProjectionPoseFactor<CALIBRATION> > {
};
// legacy smart factor class, only templated on calibration and assuming pinhole
template <class CALIBRATION> using SmartProjectionPoseFactor = SmartProjectionFactorP< PinholePose<CALIBRATION> >;
} // \ namespace gtsam