Remove landmark template parameter

examples/SFMExample_SmartFactor.cpp

@@ -61,8 +61,7 @@ using namespace std;
 using namespace gtsam;
 
 // Make the typename short so it looks much cleaner
-typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Point3,
-    gtsam::Cal3_S2> SmartFactor;
+typedef gtsam::SmartProjectionPoseFactor<gtsam::Pose3, gtsam::Cal3_S2> SmartFactor;
 
 /* ************************************************************************* */
 int main(int argc, char* argv[]) {

gtsam/slam/SmartFactorBase.h

@@ -48,7 +48,7 @@ protected:
 
   boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras)
 
-  static const int ZDim = traits::dimension<Z>::value;    ///< Dimension trait of measurement type
+  static const int ZDim = traits::dimension<Z>::value;    ///< Measurement dimension
 
   /// Definitions for blocks of F
   typedef Eigen::Matrix<double, ZDim, D> Matrix2D; // F

gtsam/slam/SmartProjectionFactor.h

@@ -61,7 +61,7 @@ enum LinearizationMode {
  * SmartProjectionFactor: triangulates point
  * TODO: why LANDMARK parameter?
  */
-template<class POSE, class LANDMARK, class CALIBRATION, size_t D>
+template<class POSE, class CALIBRATION, size_t D>
 class SmartProjectionFactor: public SmartFactorBase<POSE, gtsam::Point2, gtsam::PinholeCamera<CALIBRATION>, D> {
 protected:
 
@@ -102,9 +102,9 @@ protected:
   // and the factor is disregarded if the error is large
 
   /// shorthand for this class
-  typedef SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, D> This;
+  typedef SmartProjectionFactor<POSE, CALIBRATION, D> This;
 
-  typedef traits::dimension<gtsam::Point2> ZDim_t;    ///< Dimension trait of measurement type
+  static const int ZDim = traits::dimension<Point2>::value;    ///< Measurement dimension
 
 public:
 
@@ -420,16 +420,16 @@ public:
   }
 
   /// create factor
-  boost::shared_ptr<JacobianFactorQ<D, ZDim_t::value> > createJacobianQFactor(
+  boost::shared_ptr<JacobianFactorQ<D, ZDim> > createJacobianQFactor(
       const Cameras& cameras, double lambda) const {
     if (triangulateForLinearize(cameras))
       return Base::createJacobianQFactor(cameras, point_, lambda);
     else
-      return boost::make_shared< JacobianFactorQ<D, ZDim_t::value> >(this->keys_);
+      return boost::make_shared< JacobianFactorQ<D, ZDim> >(this->keys_);
   }
 
   /// Create a factor, takes values
-  boost::shared_ptr<JacobianFactorQ<D, ZDim_t::value> > createJacobianQFactor(
+  boost::shared_ptr<JacobianFactorQ<D, ZDim> > createJacobianQFactor(
       const Values& values, double lambda) const {
     Cameras myCameras;
     // TODO triangulate twice ??
@@ -437,7 +437,7 @@ public:
     if (nonDegenerate)
       return createJacobianQFactor(myCameras, lambda);
     else
-      return boost::make_shared< JacobianFactorQ<D, ZDim_t::value> >(this->keys_);
+      return boost::make_shared< JacobianFactorQ<D, ZDim> >(this->keys_);
   }
 
   /// different (faster) way to compute Jacobian factor
@@ -446,7 +446,7 @@ public:
     if (triangulateForLinearize(cameras))
       return Base::createJacobianSVDFactor(cameras, point_, lambda);
     else
-      return boost::make_shared< JacobianFactorSVD<D, ZDim_t::value> >(this->keys_);
+      return boost::make_shared< JacobianFactorSVD<D, ZDim> >(this->keys_);
   }
 
   /// Returns true if nonDegenerate
@@ -709,4 +709,7 @@ private:
   }
 };
 
+template<class POSE, class CALIBRATION, size_t D>
+const int SmartProjectionFactor<POSE, CALIBRATION, D>::ZDim;
+
 } // \ namespace gtsam

gtsam/slam/SmartProjectionPoseFactor.h

@@ -37,8 +37,8 @@ namespace gtsam {
  * The calibration is known here. The factor only constraints poses (variable dimension is 6)
  * @addtogroup SLAM
  */
-template<class POSE, class LANDMARK, class CALIBRATION>
-class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> {
+template<class POSE, class CALIBRATION>
+class SmartProjectionPoseFactor: public SmartProjectionFactor<POSE, CALIBRATION, 6> {
 protected:
 
   LinearizationMode linearizeTo_;  ///< How to linearize the factor (HESSIAN, JACOBIAN_SVD, JACOBIAN_Q)
@@ -48,10 +48,10 @@ protected:
 public:
 
   /// shorthand for base class type
-  typedef SmartProjectionFactor<POSE, LANDMARK, CALIBRATION, 6> Base;
+  typedef SmartProjectionFactor<POSE, CALIBRATION, 6> Base;
 
   /// shorthand for this class
-  typedef SmartProjectionPoseFactor<POSE, LANDMARK, CALIBRATION> This;
+  typedef SmartProjectionPoseFactor<POSE, CALIBRATION> This;
 
   /// shorthand for a smart pointer to a factor
   typedef boost::shared_ptr<This> shared_ptr;

gtsam/slam/tests/testSmartProjectionPoseFactor.cpp

@@ -60,8 +60,8 @@ static Key poseKey1(x1);
 static Point2 measurement1(323.0, 240.0);
 static Pose3 body_P_sensor1(Rot3::RzRyRx(-M_PI_2, 0.0, -M_PI_2), Point3(0.25, -0.10, 1.0));
 
-typedef SmartProjectionPoseFactor<Pose3,Point3,Cal3_S2> SmartFactor;
-typedef SmartProjectionPoseFactor<Pose3,Point3,Cal3Bundler> SmartFactorBundler;
+typedef SmartProjectionPoseFactor<Pose3,Cal3_S2> SmartFactor;
+typedef SmartProjectionPoseFactor<Pose3,Cal3Bundler> SmartFactorBundler;
 
 void projectToMultipleCameras(
     SimpleCamera cam1, SimpleCamera cam2, SimpleCamera cam3, Point3 landmark,
@@ -1202,7 +1202,7 @@ TEST( SmartProjectionPoseFactor, HessianWithRotationDegenerate ){
 
 /* ************************************************************************* */
 TEST( SmartProjectionPoseFactor, ConstructorWithCal3Bundler) {
-  SmartProjectionPoseFactor<Pose3,Point3,Cal3Bundler> factor1(rankTol, linThreshold);
+  SmartProjectionPoseFactor<Pose3,Cal3Bundler> factor1(rankTol, linThreshold);
   boost::shared_ptr<Cal3Bundler> Kbundler(new Cal3Bundler(500, 1e-3, 1e-3, 1000, 2000));
   factor1.add(measurement1, poseKey1, model, Kbundler);
 }

gtsam_unstable/examples/SmartProjectionFactorExample.cpp

@@ -46,7 +46,7 @@ using namespace gtsam;
 
 int main(int argc, char** argv){
 
-  typedef SmartProjectionPoseFactor<Pose3, Point3, Cal3_S2> SmartFactor;
+  typedef SmartProjectionPoseFactor<Pose3, Cal3_S2> SmartFactor;
 
   Values initial_estimate;
   NonlinearFactorGraph graph;