12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

1. remove a redundant constructor of PinholeCamera 

2. remove a "backproject_from_camera" function from PinholeCamera, please use "backproject" directly
release/4.3a0
Yong-Dian Jian 2012-06-19 15:28:22 +00:00
parent 615cfee44c
commit 9cb903fe08
5 changed files with 7 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
examples/CameraResectioning.cpp
View File

@ -46,7 +46,7 @@ public:
/// evaluate the error /// evaluate the error
virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H = virtual Vector evaluateError(const Pose3& pose, boost::optional<Matrix&> H =
boost::none) const { boost::none) const {
SimpleCamera camera(*K_, pose); SimpleCamera camera(pose, *K_);
Point2 reprojectionError(camera.project(P_, H) - p_); Point2 reprojectionError(camera.project(P_, H) - p_);
return reprojectionError.vector(); return reprojectionError.vector();
} }

8
gtsam/geometry/PinholeCamera.h
View File

@ -56,9 +56,6 @@ namespace gtsam {
/** constructor with pose and calibration */ /** constructor with pose and calibration */
PinholeCamera(const Pose3& pose, const Calibration& K):pose_(pose),K_(K) {} PinholeCamera(const Pose3& pose, const Calibration& K):pose_(pose),K_(K) {}
/** alternative constructor with pose and calibration */
PinholeCamera(const Calibration& K, const Pose3& pose):pose_(pose),K_(K) {}
/// @} /// @}
/// @name Named Constructors /// @name Named Constructors
/// @{ /// @{
@ -290,11 +287,6 @@ namespace gtsam {
return pose_.transform_from(pc); return pose_.transform_from(pc);
} }
/// backproject a 2-dimensional point to a 3-dimensional point at given depth
inline Point3 backproject_from_camera(const Point2& p, double depth) const {
return backproject(p, depth);
}
/** /**
* Calculate range to a landmark * Calculate range to a landmark
* @param point 3D location of landmark * @param point 3D location of landmark

6
gtsam/geometry/tests/testSimpleCamera.cpp
View File

@ -35,7 +35,7 @@ const Pose3 pose1(Matrix_(3,3,
), ),
Point3(0,0,0.5)); Point3(0,0,0.5));
const SimpleCamera camera(K, pose1); const SimpleCamera camera(pose1, K);
const Point3 point1(-0.08,-0.08, 0.0); const Point3 point1(-0.08,-0.08, 0.0);
const Point3 point2(-0.08, 0.08, 0.0); const Point3 point2(-0.08, 0.08, 0.0);
@ -106,7 +106,7 @@ TEST( SimpleCamera, backproject2)
{ {
Point3 origin; Point3 origin;
Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down Rot3 rot(1., 0., 0., 0., 0., 1., 0., -1., 0.); // a camera looking down
SimpleCamera camera(K, Pose3(rot, origin)); SimpleCamera camera(Pose3(rot, origin), K);
Point3 actual = camera.backproject(Point2(), 1.); Point3 actual = camera.backproject(Point2(), 1.);
Point3 expected(0., 1., 0.); Point3 expected(0., 1., 0.);
@ -119,7 +119,7 @@ TEST( SimpleCamera, backproject2)
/* ************************************************************************* */ /* ************************************************************************* */
Point2 project2(const Pose3& pose, const Point3& point) { Point2 project2(const Pose3& pose, const Point3& point) {
return SimpleCamera(K,pose).project(point); return SimpleCamera(pose,K).project(point);
} }
TEST( SimpleCamera, Dproject_point_pose) TEST( SimpleCamera, Dproject_point_pose)

2
gtsam/slam/ProjectionFactor.h
View File

@ -93,7 +93,7 @@ namespace gtsam {
Vector evaluateError(const Pose3& pose, const Point3& point, Vector evaluateError(const Pose3& pose, const Point3& point,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const { boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
try { try {
PinholeCamera<CALIBRATION> camera(*K_, pose); PinholeCamera<CALIBRATION> camera(pose, *K_);
Point2 reprojectionError(camera.project(point, H1, H2) - measured_); Point2 reprojectionError(camera.project(point, H1, H2) - measured_);
return reprojectionError.vector(); return reprojectionError.vector();
} catch( CheiralityException& e) { } catch( CheiralityException& e) {

4
tests/testNonlinearEquality.cpp
View File

@ -524,9 +524,9 @@ TEST (testNonlinearEqualityConstraint, stereo_constrained ) {
0.0, 0.0, 1.0, 0.0, 0.0, 1.0,
0.0, -1.0, 0.0)); 0.0, -1.0, 0.0));
Pose3 pose1(faceDownY, Point3()); // origin, left camera Pose3 pose1(faceDownY, Point3()); // origin, left camera
SimpleCamera camera1(K, pose1); SimpleCamera camera1(pose1, K);
Pose3 pose2(faceDownY, Point3(2.0, 0.0, 0.0)); // 2 units to the left Pose3 pose2(faceDownY, Point3(2.0, 0.0, 0.0)); // 2 units to the left
SimpleCamera camera2(K, pose2); SimpleCamera camera2(pose2, K);
Point3 landmark(1.0, 5.0, 0.0); //centered between the cameras, 5 units away Point3 landmark(1.0, 5.0, 0.0); //centered between the cameras, 5 units away
// keys // keys