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Merged in fix/smartParams (pull request #175) 

Fix parameter bug and improve documentation
release/4.3a0
Frank Dellaert 2015-07-15 11:44:37 -07:00
parent de72aa371a ecdd4d5787
commit adc653c281
2 changed files with 16 additions and 6 deletions
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12
gtsam/slam/SmartProjectionFactor.h
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@ -11,7 +11,7 @@
/**
* @file SmartProjectionFactor.h
* @brief Base class to create smart factors on poses or cameras
* @brief Smart factor on cameras (pose + calibration)
* @author Luca Carlone
* @author Zsolt Kira
* @author Frank Dellaert
@ -108,16 +108,22 @@ public:
void setEnableEPI(bool enableEPI) {
triangulation.enableEPI = enableEPI;
}
void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) {
void setLandmarkDistanceThreshold(double landmarkDistanceThreshold) {
triangulation.landmarkDistanceThreshold = landmarkDistanceThreshold;
}
void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) {
void setDynamicOutlierRejectionThreshold(double dynOutRejectionThreshold) {
triangulation.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold;
}
};
/**
* SmartProjectionFactor: triangulates point and keeps an estimate of it around.
* This factor operates with monocular cameras, where a camera is expected to
* behave like PinholeCamera or PinholePose. This factor is intended
* to be used directly with PinholeCamera, which optimizes the camera pose
* and calibration. This also requires that values contains the involved
* cameras (instead of poses and calibrations separately).
* If the calibration is fixed use SmartProjectionPoseFactor instead!
*/
template<class CAMERA>
class SmartProjectionFactor: public SmartFactorBase<CAMERA> {

10
gtsam/slam/SmartProjectionPoseFactor.h
View File

@ -11,7 +11,7 @@
/**
* @file SmartProjectionPoseFactor.h
* @brief Produces an Hessian factors on POSES from monocular measurements of a single landmark
* @brief Smart factor on poses, assuming camera calibration is fixed
* @author Luca Carlone
* @author Chris Beall
* @author Zsolt Kira
@ -34,7 +34,11 @@ namespace gtsam {
*/
/**
* The calibration is known here. The factor only constraints poses (variable dimension is 6)
* This factor assumes that camera calibration is fixed, and that
* the calibration is the same for all cameras involved in this factor.
* The factor only constrains poses (variable dimension is 6).
* This factor requires that values contains the involved poses (Pose3).
* If the calibration should be optimized, as well, use SmartProjectionFactor instead!
* @addtogroup SLAM
*/
template<class CALIBRATION>
@ -58,7 +62,7 @@ public:
/**
* Constructor
* @param K (fixed) calibration, assumed to be the same for all cameras
* @param body_P_sensor pose of the camera in the body frame
* @param body_P_sensor pose of the camera in the body frame
* @param params internal parameters of the smart factors
*/
SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K,