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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 * @brief Smart factor on poses, assuming camera calibration is fixed
* @author Luca Carlone * @author Luca Carlone
* @author Chris Beall * @author Chris Beall
@ -42,13 +42,13 @@ namespace gtsam {
* @addtogroup SLAM * @addtogroup SLAM
*/ */
template<class CAMERA> template<class CAMERA>
class SmartProjectionPoseFactor: public SmartProjectionFactor< class SmartProjectionPoseFactorC: public SmartProjectionFactor<CAMERA> {
PinholePose<CALIBRATION> > {
private: private:
typedef PinholePose<CALIBRATION> Camera; typedef SmartProjectionFactor<CAMERA> Base;
typedef SmartProjectionFactor<Camera> Base; typedef SmartProjectionPoseFactorC<CAMERA> This;
typedef SmartProjectionPoseFactor<CALIBRATION> This; typedef CAMERA Camera;
typedef typename CAMERA::CalibrationType CALIBRATION;
protected: protected:
@ -62,7 +62,7 @@ public:
/** /**
* Default constructor, only for serialization * Default constructor, only for serialization
*/ */
SmartProjectionPoseFactor() {} SmartProjectionPoseFactorC() {}
/** /**
* Constructor * Constructor
@ -70,7 +70,7 @@ public:
* @param K (fixed) calibration, assumed to be the same for all cameras * @param K (fixed) calibration, assumed to be the same for all cameras
* @param params parameters for the smart projection factors * @param params parameters for the smart projection factors
*/ */
SmartProjectionPoseFactor( SmartProjectionPoseFactorC(
const SharedNoiseModel& sharedNoiseModel, const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K, const boost::shared_ptr<CALIBRATION> K,
const SmartProjectionParams& params = SmartProjectionParams()) const SmartProjectionParams& params = SmartProjectionParams())
@ -84,17 +84,17 @@ public:
* @param body_P_sensor pose of the camera in the body frame (optional) * @param body_P_sensor pose of the camera in the body frame (optional)
* @param params parameters for the smart projection factors * @param params parameters for the smart projection factors
*/ */
SmartProjectionPoseFactor( SmartProjectionPoseFactorC(
const SharedNoiseModel& sharedNoiseModel, const SharedNoiseModel& sharedNoiseModel,
const boost::shared_ptr<CALIBRATION> K, const boost::shared_ptr<CALIBRATION> K,
const boost::optional<Pose3> body_P_sensor, const boost::optional<Pose3> body_P_sensor,
const SmartProjectionParams& params = SmartProjectionParams()) const SmartProjectionParams& params = SmartProjectionParams())
: SmartProjectionPoseFactor(sharedNoiseModel, K, params) { : SmartProjectionPoseFactorC(sharedNoiseModel, K, params) {
this->body_P_sensor_ = body_P_sensor; this->body_P_sensor_ = body_P_sensor;
} }
/** Virtual destructor */ /** Virtual destructor */
~SmartProjectionPoseFactor() override { ~SmartProjectionPoseFactorC() override {
} }
/** /**
@ -104,7 +104,7 @@ public:
*/ */
void print(const std::string& s = "", const KeyFormatter& keyFormatter = void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const override { DefaultKeyFormatter) const override {
std::cout << s << "SmartProjectionPoseFactor, z = \n "; std::cout << s << "SmartProjectionPoseFactorC, z = \n ";
Base::print("", keyFormatter); Base::print("", keyFormatter);
} }
@ -161,9 +161,33 @@ public:
// end of class declaration // end of class declaration
/// traits /// traits
template<class CALIBRATION> template<class CAMERA>
struct traits<SmartProjectionPoseFactor<CALIBRATION> > : public Testable< struct traits<SmartProjectionPoseFactorC<CAMERA> > : public Testable<
SmartProjectionPoseFactor<CALIBRATION> > { 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 } // \ namespace gtsam