Wrapped Cal3DS2
Alex Cunningham
parent
799bd30eea
commit
ce5d709032
86
gtsam.h
86
gtsam.h
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@ -375,7 +375,7 @@ virtual class Rot3 : gtsam::Value {
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static gtsam::Rot3 Rx(double t);
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static gtsam::Rot3 Ry(double t);
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static gtsam::Rot3 Rz(double t);
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static gtsam::Rot3 RzRyRx(double x, double y, double z); // FIXME: overloaded functions don't work yet
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static gtsam::Rot3 RzRyRx(double x, double y, double z);
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static gtsam::Rot3 RzRyRx(Vector xyz);
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static gtsam::Rot3 yaw(double t); // positive yaw is to right (as in aircraft heading)
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static gtsam::Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
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@ -565,6 +565,8 @@ virtual class Cal3DS2 : gtsam::Value {
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Vector localCoordinates(const gtsam::Cal3DS2& c) const;
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// Action on Point2
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gtsam::Point2 calibrate(const gtsam::Point2& p, double tol) const;
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gtsam::Point2 calibrate(const gtsam::Point2& p) const;
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gtsam::Point2 uncalibrate(const gtsam::Point2& p) const;
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// TODO: D2d functions that start with an uppercase letter
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@ -635,7 +637,7 @@ virtual class SimpleCamera : gtsam::Value {
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SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
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static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K,
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const gtsam::Pose2& pose, double height);
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static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); // FIXME overload
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static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
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static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
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const gtsam::Point3& target, const gtsam::Point3& upVector,
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const gtsam::Cal3_S2& K);
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@ -660,45 +662,44 @@ virtual class SimpleCamera : gtsam::Value {
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gtsam::Point2 project(const gtsam::Point3& point);
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gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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double range(const gtsam::Point3& point);
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double range(const gtsam::Pose3& point); // FIXME, overload
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double range(const gtsam::Pose3& point);
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};
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// TODO: Add this back in when Cal3DS2 has a calibrate function
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//template<CALIBRATION = {gtsam::Cal3DS2}>
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//virtual class PinholeCamera : gtsam::Value {
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// // Standard Constructors and Named Constructors
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// PinholeCamera();
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// PinholeCamera(const gtsam::Pose3& pose);
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// PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
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// static This Level(const gtsam::Cal3DS2& K,
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// const gtsam::Pose2& pose, double height);
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// static This Level(const gtsam::Pose2& pose, double height); // FIXME overload
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// static This Lookat(const gtsam::Point3& eye,
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// const gtsam::Point3& target, const gtsam::Point3& upVector,
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// const gtsam::Cal3DS2& K);
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//
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// // Testable
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// void print(string s) const;
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// bool equals(const This& camera, double tol) const;
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//
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// // Standard Interface
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// gtsam::Pose3 pose() const;
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// CALIBRATION calibration() const;
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//
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// // Manifold
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// This retract(const Vector& d) const;
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// Vector localCoordinates(const This& T2) const;
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// size_t dim() const;
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// static size_t Dim();
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//
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// // Transformations and measurement functions
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// static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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// pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
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// gtsam::Point2 project(const gtsam::Point3& point);
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// gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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// double range(const gtsam::Point3& point);
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// double range(const gtsam::Pose3& point); // FIXME, overload
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//};
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template<CALIBRATION = {gtsam::Cal3DS2}>
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virtual class PinholeCamera : gtsam::Value {
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// Standard Constructors and Named Constructors
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PinholeCamera();
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PinholeCamera(const gtsam::Pose3& pose);
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PinholeCamera(const gtsam::Pose3& pose, const gtsam::Cal3DS2& K);
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static This Level(const gtsam::Cal3DS2& K,
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const gtsam::Pose2& pose, double height);
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static This Level(const gtsam::Pose2& pose, double height);
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static This Lookat(const gtsam::Point3& eye,
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const gtsam::Point3& target, const gtsam::Point3& upVector,
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const gtsam::Cal3DS2& K);
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// Testable
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void print(string s) const;
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bool equals(const This& camera, double tol) const;
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// Standard Interface
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gtsam::Pose3 pose() const;
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CALIBRATION calibration() const;
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// Manifold
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This retract(const Vector& d) const;
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Vector localCoordinates(const This& T2) const;
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size_t dim() const;
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static size_t Dim();
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// Transformations and measurement functions
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static gtsam::Point2 project_to_camera(const gtsam::Point3& cameraPoint);
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pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
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gtsam::Point2 project(const gtsam::Point3& point);
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gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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double range(const gtsam::Point3& point);
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double range(const gtsam::Pose3& point);
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};
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//*************************************************************************
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// inference
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@ -1975,8 +1976,7 @@ virtual class GenericProjectionFactor : gtsam::NonlinearFactor {
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CALIBRATION* calibration() const;
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};
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typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3_S2> GenericProjectionFactorCal3_S2;
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// FIXME: Add Cal3DS2 when it has a 'calibrate' function
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//typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
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typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3, gtsam::Cal3DS2> GenericProjectionFactorCal3DS2;
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#include <gtsam/slam/GeneralSFMFactor.h>
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@ -1986,10 +1986,8 @@ virtual class GeneralSFMFactor : gtsam::NonlinearFactor {
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gtsam::Point2 measured() const;
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};
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typedef gtsam::GeneralSFMFactor<gtsam::SimpleCamera, gtsam::Point3> GeneralSFMFactorCal3_S2;
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// FIXME: Add Cal3DS2 when it has a 'calibrate' function
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//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
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typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
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// FIXME: Add Cal3DS2 when it has a 'calibrate' function
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template<CALIBRATION = {gtsam::Cal3_S2}>
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virtual class GeneralSFMFactor2 : gtsam::NonlinearFactor {
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GeneralSFMFactor2(const gtsam::Point2& measured, const gtsam::noiseModel::Base* model, size_t poseKey, size_t landmarkKey, size_t calibKey);
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