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Moved streaming to implementation file

release/4.3a0
dellaert 2014-01-22 01:05:32 -05:00
parent 6c9fd16ce8
commit a3a37131a1
2 changed files with 31 additions and 23 deletions
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31
gtsam/geometry/EssentialMatrix.cpp
View File

@ -8,6 +8,8 @@
#include <gtsam/geometry/EssentialMatrix.h> #include <gtsam/geometry/EssentialMatrix.h>
#include <iostream> #include <iostream>
using namespace std;
namespace gtsam { namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
@ -35,8 +37,8 @@ EssentialMatrix EssentialMatrix::FromPose3(const Pose3& _1P2_,
} }
/* ************************************************************************* */ /* ************************************************************************* */
void EssentialMatrix::print(const std::string& s) const { void EssentialMatrix::print(const string& s) const {
std::cout << s; cout << s;
aRb_.print("R:\n"); aRb_.print("R:\n");
aTb_.print("d: "); aTb_.print("d: ");
} }
@ -95,7 +97,7 @@ EssentialMatrix EssentialMatrix::rotate(const Rot3& cRb,
HE->block<2, 2>(3, 3) << D_c1Tc2_aTb; // (2*2) HE->block<2, 2>(3, 3) << D_c1Tc2_aTb; // (2*2)
} }
if (HR) { if (HR) {
throw std::runtime_error( throw runtime_error(
"EssentialMatrix::rotate: derivative HR not implemented yet"); "EssentialMatrix::rotate: derivative HR not implemented yet");
/* /*
HR->resize(5, 3); HR->resize(5, 3);
@ -121,6 +123,29 @@ double EssentialMatrix::error(const Vector& vA, const Vector& vB, //
return dot(vA, E_ * vB); return dot(vA, E_ * vB);
} }
/* ************************************************************************* */
ostream& operator <<(ostream& os, const EssentialMatrix& E) {
Rot3 R = E.rotation();
Sphere2 d = E.direction();
os.precision(10);
os << R.xyz().transpose() << " " << d.point3().vector().transpose() << " ";
return os;
}
/* ************************************************************************* */
istream& operator >>(istream& is, EssentialMatrix& E) {
double rx, ry, rz, dx, dy, dz;
is >> rx >> ry >> rz; // Read the rotation rxyz
is >> dx >> dy >> dz; // Read the translation dxyz
// Create EssentialMatrix from rotation and translation
Rot3 rot = Rot3::RzRyRx(rx, ry, rz);
Sphere2 dt = Sphere2(dx, dy, dz);
E = EssentialMatrix(rot, dt);
return is;
}
/* ************************************************************************* */ /* ************************************************************************* */
} // gtsam } // gtsam

23
gtsam/geometry/EssentialMatrix.h
View File

@ -149,28 +149,11 @@ public:
/// @name Streaming operators /// @name Streaming operators
/// @{ /// @{
// stream to stream /// stream to stream
friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E) { friend std::ostream& operator <<(std::ostream& os, const EssentialMatrix& E);
Rot3 R = E.rotation();
Sphere2 d = E.direction();
os.precision(10);
os << R.xyz().transpose() << " " << d.point3().vector().transpose() << " ";
return os;
}
/// stream from stream /// stream from stream
friend std::istream& operator >>(std::istream& is, EssentialMatrix& E) { friend std::istream& operator >>(std::istream& is, EssentialMatrix& E);
double rx, ry, rz, dx, dy, dz;
is >> rx >> ry >> rz; // Read the rotation rxyz
is >> dx >> dy >> dz; // Read the translation dxyz
// Create EssentialMatrix from rotation and translation
Rot3 rot = Rot3::RzRyRx(rx, ry, rz);
Sphere2 dt = Sphere2(dx, dy, dz);
E = EssentialMatrix(rot, dt);
return is;
}
/// @} /// @}