From dcce21639f7d1e28e98884689fc6f0ed558b4e66 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Fri, 19 Jun 2015 14:59:33 -0400
Subject: [PATCH] included new constructors (still commented out)

---
 gtsam/slam/SmartProjectionFactor.h     | 19 +++++++++++++++----
 gtsam/slam/SmartProjectionPoseFactor.h | 11 +++++++++++
 2 files changed, 26 insertions(+), 4 deletions(-)

diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index 9c206bdd5..7ac2a03be 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -44,7 +44,7 @@ enum DegeneracyMode {
 /*
  *  Parameters for the smart projection factors
  */
-class GTSAM_EXPORT SmartProjectionFactorParams {
+class GTSAM_EXPORT SmartProjectionParams {
 
 public:
 
@@ -64,7 +64,7 @@ public:
   /// @}
 
   // Constructor
-  SmartProjectionFactorParams(LinearizationMode linMode = HESSIAN,
+  SmartProjectionParams(LinearizationMode linMode = HESSIAN,
       DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1,
       bool enableEPI = false, double landmarkDistanceThreshold = 1e10,
       double dynamicOutlierRejectionThreshold = -1):
@@ -74,7 +74,7 @@ public:
         retriangulationThreshold(1e-5),
         throwCheirality(false), verboseCheirality(false) {}
 
-  virtual ~SmartProjectionFactorParams() {}
+  virtual ~SmartProjectionParams() {}
 
   void print(const std::string& str) const {
     std::cout << "         linearizationMode: " << linearizationMode << "\n";
@@ -117,7 +117,7 @@ protected:
 
   /// @name Parameters
   /// @{
-  const SmartProjectionFactorParams params_;
+  const SmartProjectionParams params_;
   /// @}
 
   /// @name Caching triangulation
@@ -154,6 +154,17 @@ public:
               dynamicOutlierRejectionThreshold), //
       result_(TriangulationResult::Degenerate()) {}
 
+  /**
+   * Constructor
+   * @param body_P_sensor pose of the camera in the body frame
+   * @param params internal parameters of the smart factors
+   */
+//  SmartProjectionFactor(const boost::optional<Pose3> body_P_sensor = boost::none,
+//      const SmartProjectionParams params = SmartProjectionParams()) :
+//        Base(body_P_sensor),
+//        params_(params), //
+//        result_(TriangulationResult::Degenerate()) {}
+
   /** Virtual destructor */
   virtual ~SmartProjectionFactor() {
   }
diff --git a/gtsam/slam/SmartProjectionPoseFactor.h b/gtsam/slam/SmartProjectionPoseFactor.h
index 9a47bd34f..fbd9e1ca6 100644
--- a/gtsam/slam/SmartProjectionPoseFactor.h
+++ b/gtsam/slam/SmartProjectionPoseFactor.h
@@ -72,6 +72,17 @@ public:
         Base(linearizeTo, rankTol, manageDegeneracy, enableEPI, landmarkDistanceThreshold,
             dynamicOutlierRejectionThreshold, body_P_sensor), K_(K) {}
 
+  /**
+   * Constructor
+   * @param K (fixed) calibration, assumed to be the same for all cameras
+   * @param  body_P_sensor pose of the camera in the body frame
+   * @param params internal parameters of the smart factors
+   */
+//  SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K,
+//          const boost::optional<Pose3> body_P_sensor = boost::none,
+//          const SmartProjectionParams params = SmartProjectionParams()) :
+//              Base(body_P_sensor, params), K_(K) {}
+
   /** Virtual destructor */
   virtual ~SmartProjectionPoseFactor() {}