From a7a209ce0c391c987d1e51abea30b53bc9a9631a Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Fri, 30 May 2014 13:31:35 -0400
Subject: [PATCH] Minor fixes and documentation cleanup

---
 gtsam_unstable/slam/SmartProjectionFactor.h   |  2 +-
 .../slam/SmartProjectionPoseFactor.h          | 32 +++++++++++++------
 2 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/gtsam_unstable/slam/SmartProjectionFactor.h b/gtsam_unstable/slam/SmartProjectionFactor.h
index 2124dd6f6..f439397b9 100644
--- a/gtsam_unstable/slam/SmartProjectionFactor.h
+++ b/gtsam_unstable/slam/SmartProjectionFactor.h
@@ -54,7 +54,7 @@ public:
   double f;
 };
 
-enum linearizationType {
+enum LinearizationMode {
   HESSIAN, JACOBIAN_SVD, JACOBIAN_Q
 };
 
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactor.h b/gtsam_unstable/slam/SmartProjectionPoseFactor.h
index 66497d28d..273102bda 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactor.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactor.h
@@ -41,9 +41,8 @@ template<class POSE, class LANDMARK, class CALIBRATION>
 class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
 protected:
 
-  linearizationType linearizeTo_;
+  LinearizationMode linearizeTo_;  ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q)
 
-  // Known calibration
   std::vector<boost::shared_ptr<CALIBRATION> > K_all_; ///< shared pointer to calibration object (one for each camera)
 
 public:
@@ -69,7 +68,7 @@ public:
   SmartProjectionPoseFactor(const double rankTol = 1,
       const double linThreshold = -1, const bool manageDegeneracy = false,
       const bool enableEPI = false, boost::optional<POSE> body_P_sensor = boost::none,
-      linearizationType linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10,
+      LinearizationMode linearizeTo = HESSIAN, double landmarkDistanceThreshold = 1e10,
       double dynamicOutlierRejectionThreshold = -1) :
         Base(rankTol, linThreshold, manageDegeneracy, enableEPI, body_P_sensor,
         landmarkDistanceThreshold, dynamicOutlierRejectionThreshold), linearizeTo_(linearizeTo) {}
@@ -80,7 +79,7 @@ public:
   /**
    * add a new measurement and pose key
    * @param measured is the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
-   * @param poseKey is the index corresponding to the camera observing the same landmark
+   * @param poseKey is key corresponding to the camera observing the same landmark
    * @param noise_i is the measurement noise
    * @param K_i is the (known) camera calibration
    */
@@ -92,8 +91,11 @@ public:
   }
 
   /**
-   * add a new measurements and pose keys
-   * Variant of the previous one in which we include a set of measurements
+   *  Variant of the previous one in which we include a set of measurements
+   * @param measurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
+   * @param poseKeys vector of keys corresponding to the camera observing the same landmark
+   * @param noises vector of measurement noises
+   * @param Ks vector of calibration objects
    */
   void add(std::vector<Point2> measurements, std::vector<Key> poseKeys,
       std::vector<SharedNoiseModel> noises,
@@ -105,8 +107,11 @@ public:
   }
 
   /**
-   * add a new measurements and pose keys
    * Variant of the previous one in which we include a set of measurements with the same noise and calibration
+   * @param mmeasurements vector of the 2m dimensional location of the projection of a single landmark in the m view (the measurement)
+   * @param poseKeys vector of keys corresponding to the camera observing the same landmark
+   * @param noise measurement noise (same for all measurements)
+   * @param K the (known) camera calibration (same for all measurements)
    */
   void add(std::vector<Point2> measurements, std::vector<Key> poseKeys,
       const SharedNoiseModel noise, const boost::shared_ptr<CALIBRATION> K) {
@@ -141,7 +146,12 @@ public:
     return 6 * this->keys_.size();
   }
 
-  // Collect all cameras
+  /**
+   * Collect all cameras involved in this factor
+   * @param values Values structure which must contain camera poses corresponding
+   * to keys involved in this factor
+   * @return vector of Values
+   */
   typename Base::Cameras cameras(const Values& values) const {
     typename Base::Cameras cameras;
     size_t i=0;
@@ -154,7 +164,9 @@ public:
   }
 
   /**
-   * linear factor on the poses
+   * Linearize to Gaussian Factor
+   * @param values Values structure which must contain camera poses for this factor
+   * @return
    */
   virtual boost::shared_ptr<GaussianFactor> linearize(
       const Values& values) const {
@@ -184,7 +196,7 @@ public:
   }
 
   /** return the calibration object */
-  inline const boost::shared_ptr<CALIBRATION> calibration() const {
+  inline const std::vector<boost::shared_ptr<CALIBRATION> > calibration() const {
     return K_all_;
   }