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Make status a public field

release/4.3a0
Frank Dellaert 2022-05-10 22:56:55 -04:00
parent ce2cf723ad
commit b5e9dc04fd
1 changed files with 26 additions and 40 deletions
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66
gtsam/geometry/triangulation.h
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@ -23,6 +23,7 @@
#include <gtsam/geometry/Cal3Fisheye.h> #include <gtsam/geometry/Cal3Fisheye.h>
#include <gtsam/geometry/Cal3Unified.h> #include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/CameraSet.h> #include <gtsam/geometry/CameraSet.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/PinholeCamera.h>
#include <gtsam/geometry/SphericalCamera.h> #include <gtsam/geometry/SphericalCamera.h>
@ -510,18 +511,18 @@ private:
}; };
/** /**
* TriangulationResult is an optional point, along with the reasons why it is invalid. * TriangulationResult is an optional point, along with the reasons why it is
* invalid.
*/ */
class TriangulationResult: public boost::optional<Point3> { class TriangulationResult : public boost::optional<Point3> {
enum Status { public:
VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT enum Status { VALID, DEGENERATE, BEHIND_CAMERA, OUTLIER, FAR_POINT };
}; Status status;
Status status_;
TriangulationResult(Status s) :
status_(s) {
}
public:
private:
TriangulationResult(Status s) : status(s) {}
public:
/** /**
* Default constructor, only for serialization * Default constructor, only for serialization
*/ */
@ -530,54 +531,38 @@ public:
/** /**
* Constructor * Constructor
*/ */
TriangulationResult(const Point3& p) : TriangulationResult(const Point3& p) : status(VALID) { reset(p); }
status_(VALID) {
reset(p);
}
static TriangulationResult Degenerate() { static TriangulationResult Degenerate() {
return TriangulationResult(DEGENERATE); return TriangulationResult(DEGENERATE);
} }
static TriangulationResult Outlier() { static TriangulationResult Outlier() { return TriangulationResult(OUTLIER); }
return TriangulationResult(OUTLIER);
}
static TriangulationResult FarPoint() { static TriangulationResult FarPoint() {
return TriangulationResult(FAR_POINT); return TriangulationResult(FAR_POINT);
} }
static TriangulationResult BehindCamera() { static TriangulationResult BehindCamera() {
return TriangulationResult(BEHIND_CAMERA); return TriangulationResult(BEHIND_CAMERA);
} }
bool valid() const { bool valid() const { return status == VALID; }
return status_ == VALID; bool degenerate() const { return status == DEGENERATE; }
} bool outlier() const { return status == OUTLIER; }
bool degenerate() const { bool farPoint() const { return status == FAR_POINT; }
return status_ == DEGENERATE; bool behindCamera() const { return status == BEHIND_CAMERA; }
}
bool outlier() const {
return status_ == OUTLIER;
}
bool farPoint() const {
return status_ == FAR_POINT;
}
bool behindCamera() const {
return status_ == BEHIND_CAMERA;
}
// stream to output // stream to output
friend std::ostream &operator<<(std::ostream &os, friend std::ostream& operator<<(std::ostream& os,
const TriangulationResult& result) { const TriangulationResult& result) {
if (result) if (result)
os << "point = " << *result << std::endl; os << "point = " << *result << std::endl;
else else
os << "no point, status = " << result.status_ << std::endl; os << "no point, status = " << result.status << std::endl;
return os; return os;
} }
private: private:
/// Serialization function /// Serialization function
friend class boost::serialization::access; friend class boost::serialization::access;
template<class ARCHIVE> template <class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) { void serialize(ARCHIVE& ar, const unsigned int version) {
ar & BOOST_SERIALIZATION_NVP(status_); ar& BOOST_SERIALIZATION_NVP(status);
} }
}; };
@ -644,6 +629,7 @@ TriangulationResult triangulateSafe(const CameraSet<CAMERA>& cameras,
// Vector of Cameras - used by the Python/MATLAB wrapper // Vector of Cameras - used by the Python/MATLAB wrapper
using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>; using CameraSetCal3Bundler = CameraSet<PinholeCamera<Cal3Bundler>>;
using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>; using CameraSetCal3_S2 = CameraSet<PinholeCamera<Cal3_S2>>;
using CameraSetCal3DS2 = CameraSet<PinholeCamera<Cal3DS2>>;
using CameraSetCal3Fisheye = CameraSet<PinholeCamera<Cal3Fisheye>>; using CameraSetCal3Fisheye = CameraSet<PinholeCamera<Cal3Fisheye>>;
using CameraSetCal3Unified = CameraSet<PinholeCamera<Cal3Unified>>; using CameraSetCal3Unified = CameraSet<PinholeCamera<Cal3Unified>>;
using CameraSetSpherical = CameraSet<SphericalCamera>; using CameraSetSpherical = CameraSet<SphericalCamera>;