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updating points name, constexpr

release/4.3a0
Akshay Krishnan 2021-06-21 03:47:10 +00:00
parent 47f9f30b39
commit e3b6c8308a
2 changed files with 17 additions and 20 deletions
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35
examples/CreateSFMExampleData.cpp
View File

@ -26,7 +26,7 @@ using namespace gtsam;
/* ************************************************************************* */
void createExampleBALFile(const string& filename, const vector<Point3>& P,
void createExampleBALFile(const string& filename, const vector<Point3>& points,
const Pose3& pose1, const Pose3& pose2,
const Cal3Bundler& K = Cal3Bundler()) {
// Class that will gather all data
@ -35,7 +35,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
data.cameras.push_back(SfmCamera(pose1, K));
data.cameras.push_back(SfmCamera(pose2, K));
for (const Point3& p : P) {
for (const Point3& p : points) {
// Create the track
SfmTrack track;
track.p = p;
@ -63,13 +63,12 @@ void create5PointExample1() {
Pose3 pose1, pose2(aRb, aTb);
// Create test data, we need at least 5 points
vector<Point3> P;
P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
vector<Point3> points = {{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, //
{0, 0.5, 0.5}, {0, -0.5, 0.5}};
// Assumes example is run in ${GTSAM_TOP}/build/examples
const string filename = "../../examples/Data/5pointExample1.txt";
createExampleBALFile(filename, P, pose1, pose2);
createExampleBALFile(filename, points, pose1, pose2);
}
/* ************************************************************************* */
@ -81,15 +80,14 @@ void create5PointExample2() {
Pose3 pose1, pose2(aRb, aTb);
// Create test data, we need at least 5 points
vector<Point3> P;
P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100), //
Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80),
Point3(20, -50, 80);
vector<Point3> points = {{0, 0, 100}, {-10, 0, 100}, {10, 0, 100}, //
{0, 50, 50}, {0, -50, 50}, {-20, 0, 80},
{20, -50, 80}};
// Assumes example is run in ${GTSAM_TOP}/build/examples
const string filename = "../../examples/Data/5pointExample2.txt";
Cal3Bundler K(500, 0, 0);
createExampleBALFile(filename, P, pose1, pose2, K);
createExampleBALFile(filename, points, pose1, pose2, K);
}
/* ************************************************************************* */
@ -101,17 +99,16 @@ void create18PointExample1() {
Pose3 pose1, pose2(aRb, aTb);
// Create test data, we need 15 points
vector<Point3> P;
P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1), //
Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5), Point3(-1, -0.5, 2), //
Point3(-1, 0.5, 2), Point3(0.25, -0.5, 1.5), Point3(0.25, 0.5, 1.5), //
Point3(-0.1, -0.5, 0.5), Point3(0.1, -0.5, 1), Point3(0.1, 0.5, 1), //
Point3(-0.1, 0, 0.5), Point3(-0.1, 0.5, 0.5), Point3(0, 0, 0.5), //
Point3(0.1, -0.5, 0.5), Point3(0.1, 0, 0.5), Point3(0.1, 0.5, 0.5);
vector<Point3> points = {{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1}, //
{0, 0.5, 0.5}, {0, -0.5, 0.5}, {-1, -0.5, 2}, //
{-1, 0.5, 2}, {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5}, //
{-0.1, -0.5, 0.5}, {0.1, -0.5, 1}, {0.1, 0.5, 1}, //
{-0.1, 0, 0.5}, {-0.1, 0.5, 0.5}, {0, 0, 0.5}, //
{0.1, -0.5, 0.5}, {0.1, 0, 0.5}, {0.1, 0.5, 0.5}};
// Assumes example is run in ${GTSAM_TOP}/build/examples
const string filename = "../../examples/Data/18pointExample1.txt";
createExampleBALFile(filename, P, pose1, pose2);
createExampleBALFile(filename, points, pose1, pose2);
}
int main(int argc, char* argv[]) {

2
gtsam/slam/EssentialMatrixFactor.h
View File

@ -315,7 +315,7 @@ class EssentialMatrixFactor4
typedef NoiseModelFactor2<EssentialMatrix, CALIBRATION> Base;
typedef EssentialMatrixFactor4 This;
static const int DimK = FixedDimension<CALIBRATION>::value;
static constexpr int DimK = FixedDimension<CALIBRATION>::value;
typedef Eigen::Matrix<double, 2, DimK> JacobianCalibration;
public: