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moved common definitions to base class

release/4.3a0
Luca 2016-07-24 18:31:55 -04:00
parent f2bec78a58
commit cd9b4cd5ab
4 changed files with 13 additions and 25 deletions
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10
gtsam/slam/SmartFactorBase.h
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@ -36,6 +36,16 @@
namespace gtsam { namespace gtsam {
/// Linearization mode: what factor to linearize to
enum LinearizationMode {
HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
};
/// How to manage degeneracy
enum DegeneracyMode {
IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
};
/** /**
* @brief Base class for smart factors * @brief Base class for smart factors
* This base class has no internal point, but it has a measurement, noise model * This base class has no internal point, but it has a measurement, noise model

10
gtsam/slam/SmartProjectionFactor.h
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@ -31,16 +31,6 @@
namespace gtsam { namespace gtsam {
/// Linearization mode: what factor to linearize to
enum LinearizationMode {
HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
};
/// How to manage degeneracy
enum DegeneracyMode {
IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
};
/* /*
* Parameters for the smart projection factors * Parameters for the smart projection factors
*/ */

12
gtsam_unstable/slam/SmartStereoProjectionFactor.h
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@ -35,16 +35,6 @@
namespace gtsam { namespace gtsam {
/// Linearization mode: what factor to linearize to
enum LinearizationMode {
HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD
};
/// How to manage degeneracy
enum DegeneracyMode {
IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY
};
/* /*
* Parameters for the smart stereo projection factors * Parameters for the smart stereo projection factors
*/ */
@ -257,7 +247,7 @@ public:
const StereoPoint2 zi = measured_[i]; const StereoPoint2 zi = measured_[i];
monoCameras.push_back(leftCamera_i); monoCameras.push_back(leftCamera_i);
monoMeasured.push_back(Point2(zi.uL(),zi.v())); monoMeasured.push_back(Point2(zi.uL(),zi.v()));
if(!isnan(zi.uR())){ // if right point is valid if(!std::isnan(zi.uR())){ // if right point is valid
monoCameras.push_back(rightCamera_i); monoCameras.push_back(rightCamera_i);
monoMeasured.push_back(Point2(zi.uR(),zi.v())); monoMeasured.push_back(Point2(zi.uR(),zi.v()));
} }

4
gtsam_unstable/slam/tests/testSmartStereoProjectionPoseFactor.cpp
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@ -18,7 +18,7 @@
* @date Sept 2013 * @date Sept 2013
*/ */
// TODO #include <gtsam/slam/tests/smartFactorScenarios.h> #include <gtsam/slam/tests/smartFactorScenarios.h>
#include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h> #include <gtsam_unstable/slam/SmartStereoProjectionPoseFactor.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/slam/PoseTranslationPrior.h> #include <gtsam/slam/PoseTranslationPrior.h>
@ -33,8 +33,6 @@ using namespace boost::assign;
using namespace gtsam; using namespace gtsam;
// make a realistic calibration matrix // make a realistic calibration matrix
static double fov = 60; // degrees
static size_t w = 640, h = 480;
static double b = 1; static double b = 1;
static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b)); static Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fov, w, h, b));