Deprecate SimpleCamera properly
Varun Agrawal
parent
e90bfdbf93
commit
e4c738dabf
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@ -21,6 +21,7 @@
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namespace gtsam {
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
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SimpleCamera simpleCamera(const Matrix34& P) {
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// P = [A|a] = s K cRw [I|-T], with s the unknown scale
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@ -45,5 +46,6 @@ namespace gtsam {
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return SimpleCamera(Pose3(wRc, T),
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Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
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}
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#endif
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}
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@ -19,14 +19,23 @@
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#pragma once
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#include <gtsam/geometry/BearingRange.h>
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#include <gtsam/geometry/PinholeCamera.h>
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#include <gtsam/geometry/Cal3Bundler.h>
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#include <gtsam/geometry/Cal3DS2.h>
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#include <gtsam/geometry/Cal3Unified.h>
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#include <gtsam/geometry/Cal3_S2.h>
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#include <gtsam/geometry/PinholeCamera.h>
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namespace gtsam {
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/// A simple camera class with a Cal3_S2 calibration
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typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
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/// Convenient aliases for Pinhole camera classes with different calibrations.
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/// Also needed as forward declarations in the wrapper.
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using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
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using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
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//TODO Need to fix issue 621 for this to work with wrapper
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// using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
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// using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
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#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
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/**
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* @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
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* Use PinholeCameraCal3_S2 instead
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@ -140,4 +149,6 @@ struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
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template <typename T>
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struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
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#endif
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} // namespace gtsam
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@ -329,7 +329,7 @@ virtual class Value {
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};
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#include <gtsam/base/GenericValue.h>
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template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::imuBias::ConstantBias}>
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template<T = {Vector, Matrix, gtsam::Point2, gtsam::Point3, gtsam::Rot2, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::StereoPoint2, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::CalibratedCamera, gtsam::imuBias::ConstantBias}>
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virtual class GenericValue : gtsam::Value {
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void serializable() const;
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};
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@ -1059,52 +1059,12 @@ class PinholeCamera {
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void serialize() const;
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};
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// Forward declaration of PinholeCameraCalX is defined here.
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#include <gtsam/geometry/SimpleCamera.h>
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virtual class SimpleCamera {
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// Standard Constructors and Named Constructors
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SimpleCamera();
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SimpleCamera(const gtsam::Pose3& pose);
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SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
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static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height);
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static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
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static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
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const gtsam::Point3& upVector, const gtsam::Cal3_S2& K);
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static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
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const gtsam::Point3& upVector);
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// Testable
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void print(string s) const;
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bool equals(const gtsam::SimpleCamera& camera, double tol) const;
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// Standard Interface
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gtsam::Pose3 pose() const;
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gtsam::Cal3_S2 calibration() const;
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// Manifold
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gtsam::SimpleCamera retract(Vector d) const;
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Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
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size_t dim() const;
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static size_t Dim();
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// Transformations and measurement functions
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static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
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pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
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gtsam::Point2 project(const gtsam::Point3& point);
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gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
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double range(const gtsam::Point3& point);
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double range(const gtsam::Pose3& pose);
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// enabling serialization functionality
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void serialize() const;
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};
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gtsam::SimpleCamera simpleCamera(const Matrix& P);
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// Some typedefs for common camera types
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// PinholeCameraCal3_S2 is the same as SimpleCamera above
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typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
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//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
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//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
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//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
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//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
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typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
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@ -1150,7 +1110,7 @@ gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
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gtsam::Point3 triangulatePoint3(const gtsam::Pose3Vector& poses,
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gtsam::Cal3Bundler* sharedCal, const gtsam::Point2Vector& measurements,
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double rank_tol, bool optimize);
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//*************************************************************************
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// Symbolic
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//*************************************************************************
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@ -2069,7 +2029,7 @@ class NonlinearFactorGraph {
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gtsam::KeySet keys() const;
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gtsam::KeyVector keyVector() const;
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template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
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template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::imuBias::ConstantBias}>
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void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
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// NonlinearFactorGraph
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@ -2493,7 +2453,7 @@ class ISAM2 {
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template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
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gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
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gtsam::Cal3Bundler, gtsam::EssentialMatrix,
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gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
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gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
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Vector, Matrix}>
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VALUE calculateEstimate(size_t key) const;
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gtsam::Values calculateBestEstimate() const;
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@ -2527,12 +2487,11 @@ class NonlinearISAM {
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//*************************************************************************
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// Nonlinear factor types
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//*************************************************************************
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#include <gtsam/geometry/SimpleCamera.h>
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#include <gtsam/geometry/CalibratedCamera.h>
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#include <gtsam/geometry/StereoPoint2.h>
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#include <gtsam/nonlinear/PriorFactor.h>
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template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
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template<T = {Vector, gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::Pose3, gtsam::Unit3, gtsam::Cal3_S2,gtsam::CalibratedCamera, gtsam::PinholeCameraCal3_S2, gtsam::imuBias::ConstantBias, gtsam::PinholeCamera<gtsam::Cal3Bundler>}>
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virtual class PriorFactor : gtsam::NoiseModelFactor {
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PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
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T prior() const;
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@ -2556,7 +2515,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
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template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
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gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
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gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
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gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2,
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gtsam::PinholeCameraCal3_S2,
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gtsam::imuBias::ConstantBias}>
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virtual class NonlinearEquality : gtsam::NoiseModelFactor {
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// Constructor - forces exact evaluation
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@ -2675,7 +2634,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
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gtsam::Point2 measured() const;
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};
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typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
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//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
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//TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
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//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
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typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;
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