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capitalize static functions Level and Lookat in CalibratedCamera and PinholeCamera for matlab wrapper

release/4.3a0
Duy-Nguyen Ta 2012-07-16 15:24:27 +00:00
parent 4113a09b3a
commit abc29ea2ca
7 changed files with 16 additions and 16 deletions
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2
examples/VisualSLAMData.h
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@ -67,7 +67,7 @@ struct VisualSLAMExampleData {
double r = 30.0; double r = 30.0;
for (int i=0; i<n; ++i, theta += 2*M_PI/n) { 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::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.poses.push_back(camera.pose());
} }
data.odometry = data.poses[0].between(data.poses[1]); data.odometry = data.poses[0].between(data.poses[1]);

8
gtsam.h
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@ -499,7 +499,7 @@ virtual class CalibratedCamera : gtsam::Value {
CalibratedCamera(); CalibratedCamera();
CalibratedCamera(const gtsam::Pose3& pose); CalibratedCamera(const gtsam::Pose3& pose);
CalibratedCamera(const Vector& v); CalibratedCamera(const Vector& v);
gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height); static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
// Testable // Testable
void print(string s) const; void print(string s) const;
@ -529,10 +529,10 @@ virtual class SimpleCamera : gtsam::Value {
SimpleCamera(); SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose); SimpleCamera(const gtsam::Pose3& pose);
SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K); 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); const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera level(const gtsam::Pose2& pose, double height); // FIXME overload static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); // FIXME overload
static gtsam::SimpleCamera lookat(const gtsam::Point3& eye, static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
const gtsam::Point3& target, const gtsam::Point3& upVector, const gtsam::Point3& target, const gtsam::Point3& upVector,
const gtsam::Cal3_S2& K); const gtsam::Cal3_S2& K);

2
gtsam/geometry/CalibratedCamera.cpp
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@ -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()); double st = sin(pose2.theta()), ct = cos(pose2.theta());
Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
Rot3 wRc(x, y, z); Rot3 wRc(x, y, z);

2
gtsam/geometry/CalibratedCamera.h
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@ -96,7 +96,7 @@ namespace gtsam {
* @param pose2 specifies the location and viewing direction * @param pose2 specifies the location and viewing direction
* (theta 0 = looking in direction of positive X axis) * (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 /// @name Manifold

8
gtsam/geometry/PinholeCamera.h
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@ -66,7 +66,7 @@ namespace gtsam {
* (theta 0 = looking in direction of positive X axis) * (theta 0 = looking in direction of positive X axis)
* @param height camera height * @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 double st = sin(pose2.theta()), ct = cos(pose2.theta());
const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0); const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
const Rot3 wRc(x, y, z); const Rot3 wRc(x, y, z);
@ -76,8 +76,8 @@ namespace gtsam {
} }
/// PinholeCamera::level with default calibration /// PinholeCamera::level with default calibration
static PinholeCamera level(const Pose2& pose2, double height) { static PinholeCamera Level(const Pose2& pose2, double height) {
return PinholeCamera::level(Calibration(), pose2, 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 * doesn't need to be on the image plane nor orthogonal to the viewing axis
* @param K optional calibration parameter * @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; Point3 zc = target-eye;
zc = zc/zc.norm(); zc = zc/zc.norm();
Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down Point3 xc = (-upVector).cross(zc); // minus upVector since yc is pointing down

4
gtsam/geometry/tests/testCalibratedCamera.cpp
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@ -52,7 +52,7 @@ TEST( CalibratedCamera, level1)
{ {
// Create a level camera, looking in X-direction // Create a level camera, looking in X-direction
Pose2 pose2(0.1,0.2,0); Pose2 pose2(0.1,0.2,0);
CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3); CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.3);
// expected // expected
Point3 x(0,-1,0),y(0,0,-1),z(1,0,0); 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 // Create a level camera, looking in Y-direction
Pose2 pose2(0.4,0.3,M_PI/2.0); 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 // expected
Point3 x(1,0,0),y(0,0,-1),z(0,1,0); Point3 x(1,0,0),y(0,0,-1),z(0,1,0);

6
gtsam/geometry/tests/testSimpleCamera.cpp
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@ -54,7 +54,7 @@ TEST( SimpleCamera, level2)
{ {
// Create a level camera, looking in Y-direction // Create a level camera, looking in Y-direction
Pose2 pose2(0.4,0.3,M_PI/2.0); 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 // expected
Point3 x(1,0,0),y(0,0,-1),z(0,1,0); 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 // Create a level camera, looking in Y-direction
Point3 C(10.0,0.0,0.0); 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 // expected
Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0); 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)); CHECK(assert_equal( camera.pose(), expected));
Point3 C2(30.0,0.0,10.0); 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 R = camera2.pose().rotation().matrix();
Matrix I = trans(R)*R; Matrix I = trans(R)*R;