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added Cal3_S2 header and Frank's recommendations

release/4.3a0
Varun Agrawal 2020-03-21 15:29:07 -04:00
parent d9923fc3cc
commit 8fdbf2fa6e
4 changed files with 9 additions and 4 deletions
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1
examples/CameraResectioning.cpp
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@ -19,6 +19,7 @@
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <boost/make_shared.hpp> #include <boost/make_shared.hpp>
using namespace gtsam; using namespace gtsam;

1
examples/ISAM2Example_SmartFactor.cpp
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@ -5,6 +5,7 @@
*/ */
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/nonlinear/ISAM2.h> #include <gtsam/nonlinear/ISAM2.h>
#include <gtsam/slam/BetweenFactor.h> #include <gtsam/slam/BetweenFactor.h>
#include <gtsam/slam/SmartProjectionPoseFactor.h> #include <gtsam/slam/SmartProjectionPoseFactor.h>

3
examples/ImuFactorExample2.cpp
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@ -1,5 +1,6 @@
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/inference/Symbol.h> #include <gtsam/inference/Symbol.h>
#include <gtsam/navigation/ImuBias.h> #include <gtsam/navigation/ImuBias.h>
#include <gtsam/navigation/ImuFactor.h> #include <gtsam/navigation/ImuFactor.h>
@ -34,7 +35,7 @@ int main(int argc, char* argv[]) {
double radius = 30; double radius = 30;
const Point3 up(0, 0, 1), target(0, 0, 0); const Point3 up(0, 0, 1), target(0, 0, 0);
const Point3 position(radius, 0, 0); const Point3 position(radius, 0, 0);
const PinholeCamera<Cal3_S2> camera = PinholeCamera<Cal3_S2>::Lookat(position, target, up); const auto camera = PinholeCamera<Cal3_S2>::Lookat(position, target, up);
const auto pose_0 = camera.pose(); const auto pose_0 = camera.pose();
// Now, create a constant-twist scenario that makes the camera orbit the // Now, create a constant-twist scenario that makes the camera orbit the

8
gtsam/sam/tests/testRangeFactor.cpp
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@ -356,9 +356,11 @@ TEST(RangeFactor, Point3) {
/* ************************************************************************* */ /* ************************************************************************* */
// Do tests with PinholeCamera<Cal3_S2> // Do tests with PinholeCamera<Cal3_S2>
TEST( RangeFactor, Camera) { TEST( RangeFactor, Camera) {
RangeFactor<PinholeCamera<Cal3_S2>,Point3> factor1(poseKey, pointKey, measurement, model); using Camera = PinholeCamera<Cal3_S2>;
RangeFactor<PinholeCamera<Cal3_S2>,Pose3> factor2(poseKey, pointKey, measurement, model);
RangeFactor<PinholeCamera<Cal3_S2>,PinholeCamera<Cal3_S2>> factor3(poseKey, pointKey, measurement, model); RangeFactor<Camera, Point3> factor1(poseKey, pointKey, measurement, model);
RangeFactor<Camera, Pose3> factor2(poseKey, pointKey, measurement, model);
RangeFactor<Camera, Camera> factor3(poseKey, pointKey, measurement, model);
} }
/* ************************************************************************* */ /* ************************************************************************* */