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investigating potential templating alternatives

release/4.3a0
lcarlone 2021-08-24 20:35:19 -04:00
parent be55635468
commit cf3cf39683
1 changed files with 39 additions and 15 deletions
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54
gtsam/slam/SmartProjectionPoseFactor.h
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@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */
/**
* @file SmartProjectionPoseFactor.h
* @file SmartProjectionPoseFactorC.h
* @brief Smart factor on poses, assuming camera calibration is fixed
* @author Luca Carlone
* @author Chris Beall
@ -42,13 +42,13 @@ namespace gtsam {
* @addtogroup SLAM
*/
template<class CAMERA>
class SmartProjectionPoseFactor: public SmartProjectionFactor<
PinholePose<CALIBRATION> > {
class SmartProjectionPoseFactorC: public SmartProjectionFactor<CAMERA> {
private:
typedef PinholePose<CALIBRATION> Camera;
typedef SmartProjectionFactor<Camera> Base;
typedef SmartProjectionPoseFactor<CALIBRATION> This;
typedef SmartProjectionFactor<CAMERA> Base;
typedef SmartProjectionPoseFactorC<CAMERA> This;
typedef CAMERA Camera;
typedef typename CAMERA::CalibrationType CALIBRATION;
protected:
@ -62,7 +62,7 @@ public:
/**
* Default constructor, only for serialization
*/
SmartProjectionPoseFactor() {}
SmartProjectionPoseFactorC() {}
/**
* Constructor
@ -70,7 +70,7 @@ public:
* @param K (fixed) calibration, assumed to be the same for all cameras
* @param params parameters for the smart projection factors
*/
SmartProjectionPoseFactor(
SmartProjectionPoseFactorC(
const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K,
const SmartProjectionParams& params = SmartProjectionParams())
@ -84,17 +84,17 @@ public:
* @param body_P_sensor pose of the camera in the body frame (optional)
* @param params parameters for the smart projection factors
*/
SmartProjectionPoseFactor(
SmartProjectionPoseFactorC(
const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K,
const boost::optional<Pose3> body_P_sensor,
const SmartProjectionParams& params = SmartProjectionParams())
: SmartProjectionPoseFactor(sharedNoiseModel, K, params) {
: SmartProjectionPoseFactorC(sharedNoiseModel, K, params) {
this->body_P_sensor_ = body_P_sensor;
}
/** Virtual destructor */
~SmartProjectionPoseFactor() override {
~SmartProjectionPoseFactorC() override {
}
/**
@ -104,7 +104,7 @@ public:
*/
void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const override {
std::cout << s << "SmartProjectionPoseFactor, z = \n ";
std::cout << s << "SmartProjectionPoseFactorC, z = \n ";
Base::print("", keyFormatter);
}
@ -161,9 +161,33 @@ public:
// end of class declaration
/// traits
template<class CALIBRATION>
struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable<
SmartProjectionPoseFactor<CALIBRATION> > {
template<class CAMERA>
struct traits<SmartProjectionPoseFactorC<CAMERA> > : public Testable<
SmartProjectionPoseFactorC<CAMERA> > {
};
// legacy smart factor class, only templated on calibration and assuming pinhole
template <class CALIBRATION> using SmartProjectionPoseFactor = SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
//template <class CALIBRATION>
//using SmartProjectionPoseFactor = SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
//template<class CALIBRATION>
//struct SmartProjectionPoseFactor{
// typedef SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
//};
//template<class CALIBRATION>
//class SmartProjectionPoseFactor{
// typedef SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
//};
//typedef typename CAMERA::CalibrationType CALIBRATION;
//template<class CALIBRATION>
//class SmartProjectionPoseFactor: public SmartProjectionPoseFactorC< <PinholePose<CALIBRATION> > {
// public:
// private:
//};
// end
} // \ namespace gtsam