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moved shared pointer declaration to Cal3_S2.h

release/4.3a0
Manohar Paluri 2009-12-17 10:02:43 +00:00
parent 3326759f0b
commit dc9a966fdd
4 changed files with 6 additions and 5 deletions
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2
cpp/Cal3_S2.h
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@ -122,6 +122,8 @@ namespace gtsam {
} }
}; };
typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
/** /**
* convert intrinsic coordinates xy to image coordinates uv * convert intrinsic coordinates xy to image coordinates uv
*/ */

1
cpp/VSLAMFactor.h
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@ -31,7 +31,6 @@ private:
public: public:
typedef boost::shared_ptr<VSLAMFactor> shared_ptr; // shorthand for a smart pointer to a factor typedef boost::shared_ptr<VSLAMFactor> shared_ptr; // shorthand for a smart pointer to a factor
typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
/** /**
* Default constructor * Default constructor

6
cpp/testVSLAMFactor.cpp
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@ -32,7 +32,7 @@ TEST( VSLAMFactor, error )
double sigma=1.0; double sigma=1.0;
int cameraFrameNumber=1, landmarkNumber=1; int cameraFrameNumber=1, landmarkNumber=1;
boost::shared_ptr<VSLAMFactor> boost::shared_ptr<VSLAMFactor>
factor(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K)))); factor(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
// For the following configuration, the factor predicts 320,240 // For the following configuration, the factor predicts 320,240
VSLAMConfig config; VSLAMConfig config;
@ -77,10 +77,10 @@ TEST( VSLAMFactor, equals )
double sigma=1.0; double sigma=1.0;
int cameraFrameNumber=1, landmarkNumber=1; int cameraFrameNumber=1, landmarkNumber=1;
boost::shared_ptr<VSLAMFactor> boost::shared_ptr<VSLAMFactor>
factor1(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K)))); factor1(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
boost::shared_ptr<VSLAMFactor> boost::shared_ptr<VSLAMFactor>
factor2(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, VSLAMFactor::shared_ptrK(new Cal3_S2(K)))); factor2(new VSLAMFactor(z, sigma, cameraFrameNumber, landmarkNumber, shared_ptrK(new Cal3_S2(K))));
CHECK(assert_equal(*factor1, *factor2)); CHECK(assert_equal(*factor1, *factor2));
} }

2
cpp/testVSLAMGraph.cpp
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@ -49,7 +49,7 @@ VSLAMGraph testGraph() {
Point2 z24( 125, 125); Point2 z24( 125, 125);
double sigma = 1; double sigma = 1;
VSLAMFactor::shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0)); shared_ptrK sK(new Cal3_S2(625, 625, 0, 0, 0));
VSLAMGraph g; VSLAMGraph g;
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11, sigma, 1, 1, sK))); g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z11, sigma, 1, 1, sK)));
g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12, sigma, 1, 2, sK))); g.push_back(VSLAMFactor::shared_ptr(new VSLAMFactor(z12, sigma, 1, 2, sK)));