don't like it - going to create a different class
parent
cf3cf39683
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@ -10,7 +10,7 @@
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* -------------------------------------------------------------------------- */
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/**
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* @file SmartProjectionPoseFactorC.h
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* @file SmartProjectionFactorP.h
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* @brief Smart factor on poses, assuming camera calibration is fixed
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* @author Luca Carlone
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* @author Chris Beall
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@ -42,11 +42,11 @@ namespace gtsam {
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* @addtogroup SLAM
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*/
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template<class CAMERA>
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class SmartProjectionPoseFactorC: public SmartProjectionFactor<CAMERA> {
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class SmartProjectionFactorP: public SmartProjectionFactor<CAMERA> {
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private:
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typedef SmartProjectionFactor<CAMERA> Base;
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typedef SmartProjectionPoseFactorC<CAMERA> This;
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typedef SmartProjectionFactorP<CAMERA> This;
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typedef CAMERA Camera;
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typedef typename CAMERA::CalibrationType CALIBRATION;
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@ -62,7 +62,7 @@ public:
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/**
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* Default constructor, only for serialization
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*/
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SmartProjectionPoseFactorC() {}
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SmartProjectionFactorP() {}
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/**
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* Constructor
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@ -70,7 +70,7 @@ public:
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* @param K (fixed) calibration, assumed to be the same for all cameras
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* @param params parameters for the smart projection factors
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*/
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SmartProjectionPoseFactorC(
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SmartProjectionFactorP(
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const SharedNoiseModel& sharedNoiseModel,
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const boost::shared_ptr<CALIBRATION> K,
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const SmartProjectionParams& params = SmartProjectionParams())
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@ -84,17 +84,17 @@ public:
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* @param body_P_sensor pose of the camera in the body frame (optional)
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* @param params parameters for the smart projection factors
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*/
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SmartProjectionPoseFactorC(
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SmartProjectionFactorP(
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const SharedNoiseModel& sharedNoiseModel,
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const boost::shared_ptr<CALIBRATION> K,
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const boost::optional<Pose3> body_P_sensor,
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const SmartProjectionParams& params = SmartProjectionParams())
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: SmartProjectionPoseFactorC(sharedNoiseModel, K, params) {
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: SmartProjectionFactorP(sharedNoiseModel, K, params) {
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this->body_P_sensor_ = body_P_sensor;
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}
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/** Virtual destructor */
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~SmartProjectionPoseFactorC() override {
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~SmartProjectionFactorP() override {
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}
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/**
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@ -104,7 +104,7 @@ public:
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*/
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void print(const std::string& s = "", const KeyFormatter& keyFormatter =
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DefaultKeyFormatter) const override {
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std::cout << s << "SmartProjectionPoseFactorC, z = \n ";
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std::cout << s << "SmartProjectionFactorP, z = \n ";
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Base::print("", keyFormatter);
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}
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@ -162,32 +162,11 @@ public:
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/// traits
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template<class CAMERA>
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struct traits<SmartProjectionPoseFactorC<CAMERA> > : public Testable<
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SmartProjectionPoseFactorC<CAMERA> > {
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struct traits<SmartProjectionFactorP<CAMERA> > : public Testable<
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SmartProjectionFactorP<CAMERA> > {
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};
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// legacy smart factor class, only templated on calibration and assuming pinhole
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template <class CALIBRATION> using SmartProjectionPoseFactor = SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
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//template <class CALIBRATION>
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//using SmartProjectionPoseFactor = SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
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//template<class CALIBRATION>
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//struct SmartProjectionPoseFactor{
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// typedef SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
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//};
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//template<class CALIBRATION>
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//class SmartProjectionPoseFactor{
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// typedef SmartProjectionPoseFactorC< PinholePose<CALIBRATION> >;
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//};
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//typedef typename CAMERA::CalibrationType CALIBRATION;
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//template<class CALIBRATION>
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//class SmartProjectionPoseFactor: public SmartProjectionPoseFactorC< <PinholePose<CALIBRATION> > {
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// public:
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// private:
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//};
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// end
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template <class CALIBRATION> using SmartProjectionPoseFactor = SmartProjectionFactorP< PinholePose<CALIBRATION> >;
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} // \ namespace gtsam
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@ -11,7 +11,7 @@
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/**
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* @file SmartStereoProjectionFactor.h
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* @brief Smart stereo factor on StereoCameras (pose + calibration)
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* @brief Smart stereo factor on StereoCameras (pose)
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* @author Luca Carlone
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* @author Zsolt Kira
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* @author Frank Dellaert
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