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deprecate PinholeCamera specific functions for triangulation

release/4.3a0
Varun Agrawal 2020-03-17 15:22:05 -04:00
parent cf3e886d84
commit abe1636ac8
1 changed files with 12 additions and 10 deletions
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22
gtsam/geometry/triangulation.h
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@ -124,7 +124,17 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
return std::make_pair(graph, values); return std::make_pair(graph, values);
} }
/// PinholeCamera specific version // TODO: (chris) why does this exist? #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V4
/// DEPRECATED: PinholeCamera specific version
template<class CALIBRATION>
Point3 triangulateNonlinear(
const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
const Point2Vector& measurements, const Point3& initialEstimate) {
return triangulateNonlinear<PinholeCamera<CALIBRATION> > //
(cameras, measurements, initialEstimate);
}
/// DEPRECATED: PinholeCamera specific version
template<class CALIBRATION> template<class CALIBRATION>
std::pair<NonlinearFactorGraph, Values> triangulationGraph( std::pair<NonlinearFactorGraph, Values> triangulationGraph(
const CameraSet<PinholeCamera<CALIBRATION> >& cameras, const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
@ -133,6 +143,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
return triangulationGraph<PinholeCamera<CALIBRATION> > // return triangulationGraph<PinholeCamera<CALIBRATION> > //
(cameras, measurements, landmarkKey, initialEstimate); (cameras, measurements, landmarkKey, initialEstimate);
} }
#endif
/** /**
* Optimize for triangulation * Optimize for triangulation
@ -187,15 +198,6 @@ Point3 triangulateNonlinear(
return optimize(graph, values, Symbol('p', 0)); return optimize(graph, values, Symbol('p', 0));
} }
/// PinholeCamera specific version // TODO: (chris) why does this exist?
template<class CALIBRATION>
Point3 triangulateNonlinear(
const CameraSet<PinholeCamera<CALIBRATION> >& cameras,
const Point2Vector& measurements, const Point3& initialEstimate) {
return triangulateNonlinear<PinholeCamera<CALIBRATION> > //
(cameras, measurements, initialEstimate);
}
/** /**
* Create a 3*4 camera projection matrix from calibration and pose. * Create a 3*4 camera projection matrix from calibration and pose.
* Functor for partial application on calibration * Functor for partial application on calibration