capitalize static functions Level and Lookat in CalibratedCamera and PinholeCamera for matlab wrapper
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				|  | @ -67,7 +67,7 @@ struct VisualSLAMExampleData { | |||
| 		double r = 30.0; | ||||
| 		for (int i=0; i<n; ++i, theta += 2*M_PI/n) { | ||||
| 			gtsam::Point3 C = gtsam::Point3(r*cos(theta), r*sin(theta), 0.0); | ||||
| 			gtsam::SimpleCamera camera = gtsam::SimpleCamera::lookat(C, gtsam::Point3(), gtsam::Point3(0,0,1)); | ||||
| 			gtsam::SimpleCamera camera = gtsam::SimpleCamera::Lookat(C, gtsam::Point3(), gtsam::Point3(0,0,1)); | ||||
| 			data.poses.push_back(camera.pose()); | ||||
| 		} | ||||
| 		data.odometry = data.poses[0].between(data.poses[1]); | ||||
|  |  | |||
							
								
								
									
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								gtsam.h
								
								
								
								
							
							
						
						
									
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							|  | @ -499,7 +499,7 @@ virtual class CalibratedCamera : gtsam::Value { | |||
| 	CalibratedCamera(); | ||||
| 	CalibratedCamera(const gtsam::Pose3& pose); | ||||
| 	CalibratedCamera(const Vector& v); | ||||
|   gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); | ||||
|   static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height); | ||||
| 
 | ||||
|   // Testable
 | ||||
| 	void print(string s) const; | ||||
|  | @ -529,10 +529,10 @@ virtual class SimpleCamera : gtsam::Value { | |||
| 	SimpleCamera(); | ||||
|   SimpleCamera(const gtsam::Pose3& pose); | ||||
|   SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K); | ||||
|   static gtsam::SimpleCamera level(const gtsam::Cal3_S2& K, | ||||
|   static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, | ||||
|       const gtsam::Pose2& pose, double height); | ||||
|   static gtsam::SimpleCamera level(const gtsam::Pose2& pose, double height); // FIXME overload
 | ||||
|   static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, | ||||
|   static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); // FIXME overload
 | ||||
|   static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, | ||||
|       const gtsam::Point3& target, const gtsam::Point3& upVector, | ||||
|       const gtsam::Cal3_S2& K); | ||||
| 
 | ||||
|  |  | |||
|  | @ -47,7 +47,7 @@ Point3 CalibratedCamera::backproject_from_camera(const Point2& p, const double s | |||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| CalibratedCamera CalibratedCamera::level(const Pose2& pose2, double height) { | ||||
| CalibratedCamera CalibratedCamera::Level(const Pose2& pose2, double height) { | ||||
| 	double st = sin(pose2.theta()), ct = cos(pose2.theta()); | ||||
| 	Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); | ||||
| 	Rot3 wRc(x, y, z); | ||||
|  |  | |||
|  | @ -96,7 +96,7 @@ namespace gtsam { | |||
| 		 * @param pose2 specifies the location and viewing direction | ||||
| 		 * (theta 0 = looking in direction of positive X axis) | ||||
| 		 */ | ||||
| 		static CalibratedCamera level(const Pose2& pose2, double height); | ||||
| 		static CalibratedCamera Level(const Pose2& pose2, double height); | ||||
| 
 | ||||
| 		/// @}
 | ||||
| 		/// @name Manifold
 | ||||
|  |  | |||
|  | @ -66,7 +66,7 @@ namespace gtsam { | |||
|      * (theta 0 = looking in direction of positive X axis) | ||||
|      * @param height camera height | ||||
|      */ | ||||
|     static PinholeCamera level(const Calibration &K, const Pose2& pose2, double height) { | ||||
|     static PinholeCamera Level(const Calibration &K, const Pose2& pose2, double height) { | ||||
|       const double st = sin(pose2.theta()), ct = cos(pose2.theta()); | ||||
|       const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); | ||||
|       const Rot3 wRc(x, y, z); | ||||
|  | @ -76,8 +76,8 @@ namespace gtsam { | |||
|     } | ||||
| 
 | ||||
|     /// PinholeCamera::level with default calibration
 | ||||
|     static PinholeCamera level(const Pose2& pose2, double height) { | ||||
|       return PinholeCamera::level(Calibration(), pose2, height); | ||||
|     static PinholeCamera Level(const Pose2& pose2, double height) { | ||||
|       return PinholeCamera::Level(Calibration(), pose2, height); | ||||
|     } | ||||
| 
 | ||||
|     /**
 | ||||
|  | @ -89,7 +89,7 @@ namespace gtsam { | |||
|      *        doesn't need to be on the image plane nor orthogonal to the viewing axis | ||||
|      * @param K optional calibration parameter | ||||
|      */ | ||||
|     static PinholeCamera lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) { | ||||
|     static PinholeCamera Lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) { | ||||
|       Point3 zc = target-eye; | ||||
|       zc = zc/zc.norm(); | ||||
|       Point3 xc = (-upVector).cross(zc);  // minus upVector since yc is pointing down
 | ||||
|  |  | |||
|  | @ -52,7 +52,7 @@ TEST( CalibratedCamera, level1) | |||
| { | ||||
| 	// Create a level camera, looking in X-direction
 | ||||
| 	Pose2 pose2(0.1,0.2,0); | ||||
| 	CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3); | ||||
| 	CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.3); | ||||
| 
 | ||||
| 	// expected
 | ||||
| 	Point3 x(0,-1,0),y(0,0,-1),z(1,0,0); | ||||
|  | @ -66,7 +66,7 @@ TEST( CalibratedCamera, level2) | |||
| { | ||||
| 	// Create a level camera, looking in Y-direction
 | ||||
| 	Pose2 pose2(0.4,0.3,M_PI/2.0); | ||||
| 	CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1); | ||||
| 	CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.1); | ||||
| 
 | ||||
| 	// expected
 | ||||
| 	Point3 x(1,0,0),y(0,0,-1),z(0,1,0); | ||||
|  |  | |||
|  | @ -54,7 +54,7 @@ TEST( SimpleCamera, level2) | |||
| { | ||||
| 	// Create a level camera, looking in Y-direction
 | ||||
| 	Pose2 pose2(0.4,0.3,M_PI/2.0); | ||||
| 	SimpleCamera camera = SimpleCamera::level(K, pose2, 0.1); | ||||
| 	SimpleCamera camera = SimpleCamera::Level(K, pose2, 0.1); | ||||
| 
 | ||||
| 	// expected
 | ||||
| 	Point3 x(1,0,0),y(0,0,-1),z(0,1,0); | ||||
|  | @ -68,7 +68,7 @@ TEST( SimpleCamera, lookat) | |||
| { | ||||
| 	// Create a level camera, looking in Y-direction
 | ||||
| 	Point3 C(10.0,0.0,0.0); | ||||
| 	SimpleCamera camera = SimpleCamera::lookat(C, Point3(), Point3(0.0,0.0,1.0)); | ||||
| 	SimpleCamera camera = SimpleCamera::Lookat(C, Point3(), Point3(0.0,0.0,1.0)); | ||||
| 
 | ||||
| 	// expected
 | ||||
| 	Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0); | ||||
|  | @ -76,7 +76,7 @@ TEST( SimpleCamera, lookat) | |||
|   CHECK(assert_equal( camera.pose(), expected)); | ||||
| 
 | ||||
|   Point3 C2(30.0,0.0,10.0); | ||||
|   SimpleCamera camera2 = SimpleCamera::lookat(C2, Point3(), Point3(0.0,0.0,1.0)); | ||||
|   SimpleCamera camera2 = SimpleCamera::Lookat(C2, Point3(), Point3(0.0,0.0,1.0)); | ||||
| 
 | ||||
|   Matrix R = camera2.pose().rotation().matrix(); | ||||
|   Matrix I = trans(R)*R; | ||||
|  |  | |||
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