improving formatting
Ayush Baid
parent
df4419b609
commit
9d61e5bc4a
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@ -247,6 +247,8 @@ struct SfmTrack {
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measurements.emplace_back(idx, m);
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}
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/** Serialization function */
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & p;
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@ -259,24 +261,40 @@ struct SfmTrack {
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/// assert equality up to a tolerance
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bool equals(const SfmTrack &sfmTrack, double tol = 1e-9) const {
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if(!p.isApprox(sfmTrack.p)){
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// check the 3D point
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if (!p.isApprox(sfmTrack.p)) {
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return false;
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}
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// TODO: compare RGB values
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// check the RGB values
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if (r!=sfmTrack.r || g!=sfmTrack.g || b!=sfmTrack.b) {
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return false;
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}
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// compare size of vectors
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if(number_measurements() != sfmTrack.number_measurements() ||
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siftIndices.size() != sfmTrack.siftIndices.size()){
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// compare size of vectors for measurements and siftIndices
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if (number_measurements() != sfmTrack.number_measurements() ||
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siftIndices.size() != sfmTrack.siftIndices.size()) {
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return false;
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}
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// compare measurements (order sensitive)
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for(size_t idx=0; idx<number_measurements(); idx++){
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for (size_t idx = 0; idx < number_measurements(); ++idx) {
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SfmMeasurement measurement = measurements[idx];
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SfmMeasurement otherMeasurement = sfmTrack.measurements[idx];
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if(measurement.first != otherMeasurement.first || !measurement.second.isApprox(otherMeasurement.second)){
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if (measurement.first != otherMeasurement.first ||
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!measurement.second.isApprox(otherMeasurement.second)) {
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return false;
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}
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}
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// compare sift indices (order sensitive)
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for (size_t idx = 0; idx < siftIndices.size(); ++idx) {
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SiftIndex index = siftIndices[idx];
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SiftIndex otherIndex = sfmTrack.siftIndices[idx];
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if (index.first != otherIndex.first ||
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index.second != otherIndex.second) {
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return false;
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}
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}
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@ -288,10 +306,6 @@ struct SfmTrack {
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void print(const std::string& s = "") const {
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cout << "Track with " << measurements.size() << "measurements\n";
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}
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// inline bool SfmTrack::operator == (const SfmTrack& rhs) const{
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// return p==rhs.p;
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// }
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};
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/* ************************************************************************* */
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@ -305,73 +319,75 @@ struct traits<SfmTrack> : public Testable<SfmTrack> {
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typedef PinholeCamera<Cal3Bundler> SfmCamera;
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/// Define the structure for SfM data
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class GTSAM_EXPORT SfmData {
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public:
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std::vector<SfmCamera> cameras; ///< Set of cameras
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std::vector<SfmTrack> tracks; ///< Sparse set of points
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size_t number_cameras() const {
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return cameras.size();
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}
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/// The number of reconstructed 3D points
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size_t number_tracks() const {
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return tracks.size();
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}
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/// The camera pose at frame index `idx`
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SfmCamera camera(size_t idx) const {
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return cameras[idx];
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}
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/// The track formed by series of landmark measurements
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SfmTrack track(size_t idx) const {
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return tracks[idx];
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}
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/// Add a track to SfmData
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void add_track(const SfmTrack& t) {
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tracks.push_back(t);
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}
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/// Add a camera to SfmData
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void add_camera(const SfmCamera& cam){
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cameras.push_back(cam);
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struct SfmData {
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std::vector<SfmCamera> cameras; ///< Set of cameras
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std::vector<SfmTrack> tracks; ///< Sparse set of points
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size_t number_cameras() const {
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return cameras.size();
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}
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/// The number of reconstructed 3D points
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size_t number_tracks() const {
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return tracks.size();
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}
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/// The camera pose at frame index `idx`
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SfmCamera camera(size_t idx) const {
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return cameras[idx];
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}
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/// The track formed by series of landmark measurements
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SfmTrack track(size_t idx) const {
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return tracks[idx];
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}
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/// Add a track to SfmData
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void add_track(const SfmTrack& t) {
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tracks.push_back(t);
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}
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/// Add a camera to SfmData
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void add_camera(const SfmCamera& cam) {
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cameras.push_back(cam);
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}
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int /*version*/) {
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ar & cameras;
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ar & tracks;
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}
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/// @}
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/// @name Testable
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/// @{
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/// assert equality up to a tolerance
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bool equals(const SfmData &sfmData, double tol = 1e-9) const {
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// check number of cameras and tracks
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if (number_cameras() != sfmData.number_cameras() ||
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number_tracks() != sfmData.number_tracks()) {
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return false;
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}
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/// @}
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/// @name Testable
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/// @{
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/// assert equality up to a tolerance
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bool equals(const SfmData &sfmData, double tol = 1e-9) const {
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// check number of cameras and tracks
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if (number_cameras() != sfmData.number_cameras() || number_tracks() != sfmData.number_tracks()){
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// check each camera
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for (size_t i = 0; i < number_cameras(); ++i) {
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if (!camera(i).equals(sfmData.camera(i), tol)) {
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return false;
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}
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}
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// check each camera
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for(size_t cam_idx = 0; cam_idx < number_cameras(); cam_idx++){
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if(!camera(cam_idx).equals(sfmData.camera(cam_idx), tol)){
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return false;
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}
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// check each track
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for (size_t j = 0; j < number_tracks(); ++j) {
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if (!track(j).equals(sfmData.track(j), tol)) {
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return false;
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}
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return true;
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}
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/// print
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void print(const std::string& s = "") const {
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cout << "Number of cameras = " << number_cameras() << "\n";
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cout << "Number of tracks = " << number_tracks() << "\n";
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}
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return true;
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}
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int /*version*/) {
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ar & cameras;
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ar & tracks;
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}
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// inline bool SfmData::operator == (const SfmData& rhs) const{
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// return cameras==rhs.cameras && tracks==rhs.tracks;
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// }
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/// print
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void print(const std::string& s = "") const {
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cout << "Number of cameras = " << number_cameras() << "\n";
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cout << "Number of tracks = " << number_tracks() << "\n";
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}
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};
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/* ************************************************************************* */
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