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uncomment calibration applications

release/4.3a0
Varun Agrawal 2020-11-30 13:19:13 -05:00
parent 0b81b763a2
commit cb3a766b30
4 changed files with 10 additions and 17 deletions
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5
gtsam/geometry/SimpleCamera.h
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@ -31,9 +31,8 @@ namespace gtsam {
/// Also needed as forward declarations in the wrapper. /// Also needed as forward declarations in the wrapper.
using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>; using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>; using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
//TODO Need to fix issue 621 for this to work with wrapper using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
// using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>; using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
// using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41 #ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/** /**

10
gtsam/gtsam.i
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@ -881,7 +881,7 @@ virtual class Cal3DS2_Base {
// Action on Point2 // Action on Point2
gtsam::Point2 uncalibrate(const gtsam::Point2& p) const; gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const; gtsam::Point2 calibrate(const gtsam::Point2& p) const;
// enabling serialization functionality // enabling serialization functionality
void serialize() const; void serialize() const;
@ -1064,9 +1064,8 @@ class PinholeCamera {
// Some typedefs for common camera types // Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above // PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2; typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2; typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler; typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
#include <gtsam/geometry/StereoCamera.h> #include <gtsam/geometry/StereoCamera.h>
@ -2634,8 +2633,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
gtsam::Point2 measured() const; gtsam::Point2 measured() const;
}; };
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
template<CALIBRATION = {gtsam::Cal3_S2}> template<CALIBRATION = {gtsam::Cal3_S2}>

6
gtsam_unstable/slam/serialization.cpp
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@ -86,8 +86,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2; typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO fix issue 621 typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2; typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -184,8 +183,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO Fix issue 621 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");

6
tests/testSerializationSLAM.cpp
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@ -100,8 +100,7 @@ typedef GenericProjectionFactor<Pose3, Point3, Cal3_S2> GenericProjectionFactorC
typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2; typedef GenericProjectionFactor<Pose3, Point3, Cal3DS2> GenericProjectionFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO Fix issue 621 for this to work typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2; typedef gtsam::GeneralSFMFactor2<gtsam::Cal3_S2> GeneralSFMFactor2Cal3_S2;
@ -198,8 +197,7 @@ BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3_S2, "gtsam::GenericProjectio
BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2"); BOOST_CLASS_EXPORT_GUID(GenericProjectionFactorCal3DS2, "gtsam::GenericProjectionFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3_S2, "gtsam::GeneralSFMFactorCal3_S2");
//TODO fix issue 621 BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
//BOOST_CLASS_EXPORT_GUID(GeneralSFMFactorCal3DS2, "gtsam::GeneralSFMFactorCal3DS2");
BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2"); BOOST_CLASS_EXPORT_GUID(GeneralSFMFactor2Cal3_S2, "gtsam::GeneralSFMFactor2Cal3_S2");