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Deprecate SimpleCamera properly

release/4.3a0
Varun Agrawal 2020-11-30 06:40:54 -05:00
parent e90bfdbf93
commit e4c738dabf
3 changed files with 25 additions and 53 deletions
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2
gtsam/geometry/SimpleCamera.cpp
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@ -21,6 +21,7 @@
namespace gtsam { namespace gtsam {
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
SimpleCamera simpleCamera(const Matrix34& P) { SimpleCamera simpleCamera(const Matrix34& P) {
// P = [A|a] = s K cRw [I|-T], with s the unknown scale // P = [A|a] = s K cRw [I|-T], with s the unknown scale
@ -45,5 +46,6 @@ namespace gtsam {
return SimpleCamera(Pose3(wRc, T), return SimpleCamera(Pose3(wRc, T),
Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2))); Cal3_S2(K(0, 0), K(1, 1), K(0, 1), K(0, 2), K(1, 2)));
} }
#endif
} }

17
gtsam/geometry/SimpleCamera.h
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@ -19,14 +19,23 @@
#pragma once #pragma once
#include <gtsam/geometry/BearingRange.h> #include <gtsam/geometry/BearingRange.h>
#include <gtsam/geometry/PinholeCamera.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Cal3DS2.h>
#include <gtsam/geometry/Cal3Unified.h>
#include <gtsam/geometry/Cal3_S2.h> #include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/PinholeCamera.h>
namespace gtsam { namespace gtsam {
/// A simple camera class with a Cal3_S2 calibration /// Convenient aliases for Pinhole camera classes with different calibrations.
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2; /// Also needed as forward declarations in the wrapper.
using PinholeCameraCal3_S2 = gtsam::PinholeCamera<gtsam::Cal3_S2>;
using PinholeCameraCal3Bundler = gtsam::PinholeCamera<gtsam::Cal3Bundler>;
//TODO Need to fix issue 621 for this to work with wrapper
// using PinholeCameraCal3DS2 = gtsam::PinholeCamera<gtsam::Cal3DS2>;
// using PinholeCameraCal3Unified = gtsam::PinholeCamera<gtsam::Cal3Unified>;
#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
/** /**
* @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x * @deprecated: SimpleCamera for backwards compatability with GTSAM 3.x
* Use PinholeCameraCal3_S2 instead * Use PinholeCameraCal3_S2 instead
@ -140,4 +149,6 @@ struct traits<const SimpleCamera> : public internal::Manifold<SimpleCamera> {};
template <typename T> template <typename T>
struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {}; struct Range<SimpleCamera, T> : HasRange<SimpleCamera, T, double> {};
#endif
} // namespace gtsam } // namespace gtsam

57
gtsam/gtsam.i
View File

@ -329,7 +329,7 @@ virtual class Value {
}; };
#include <gtsam/base/GenericValue.h> #include <gtsam/base/GenericValue.h>
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}> 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}>
virtual class GenericValue : gtsam::Value { virtual class GenericValue : gtsam::Value {
void serializable() const; void serializable() const;
}; };
@ -1059,52 +1059,12 @@ class PinholeCamera {
void serialize() const; void serialize() const;
}; };
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h> #include <gtsam/geometry/SimpleCamera.h>
virtual class SimpleCamera {
// Standard Constructors and Named Constructors
SimpleCamera();
SimpleCamera(const gtsam::Pose3& pose);
SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K, const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector, const gtsam::Cal3_S2& K);
static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye, const gtsam::Point3& target,
const gtsam::Point3& upVector);
// Testable
void print(string s) const;
bool equals(const gtsam::SimpleCamera& camera, double tol) const;
// Standard Interface
gtsam::Pose3 pose() const;
gtsam::Cal3_S2 calibration() const;
// Manifold
gtsam::SimpleCamera retract(Vector d) const;
Vector localCoordinates(const gtsam::SimpleCamera& T2) const;
size_t dim() const;
static size_t Dim();
// Transformations and measurement functions
static gtsam::Point2 Project(const gtsam::Point3& cameraPoint);
pair<gtsam::Point2,bool> projectSafe(const gtsam::Point3& pw) const;
gtsam::Point2 project(const gtsam::Point3& point);
gtsam::Point3 backproject(const gtsam::Point2& p, double depth) const;
double range(const gtsam::Point3& point);
double range(const gtsam::Pose3& pose);
// enabling serialization functionality
void serialize() const;
};
gtsam::SimpleCamera simpleCamera(const Matrix& P);
// Some typedefs for common camera types // Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above // PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2; typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified //TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, PinholeCamera does not apply to Cal3DS2/Unified
//typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2; //typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
//typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified; //typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler; typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
@ -2069,7 +2029,7 @@ class NonlinearFactorGraph {
gtsam::KeySet keys() const; gtsam::KeySet keys() const;
gtsam::KeyVector keyVector() const; gtsam::KeyVector keyVector() const;
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}> 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}>
void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); void addPrior(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
// NonlinearFactorGraph // NonlinearFactorGraph
@ -2493,7 +2453,7 @@ class ISAM2 {
template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3, template <VALUE = {gtsam::Point2, gtsam::Rot2, gtsam::Pose2, gtsam::Point3,
gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2, gtsam::Rot3, gtsam::Pose3, gtsam::Cal3_S2, gtsam::Cal3DS2,
gtsam::Cal3Bundler, gtsam::EssentialMatrix, gtsam::Cal3Bundler, gtsam::EssentialMatrix,
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCamera<gtsam::Cal3Bundler>,
Vector, Matrix}> Vector, Matrix}>
VALUE calculateEstimate(size_t key) const; VALUE calculateEstimate(size_t key) const;
gtsam::Values calculateBestEstimate() const; gtsam::Values calculateBestEstimate() const;
@ -2527,12 +2487,11 @@ class NonlinearISAM {
//************************************************************************* //*************************************************************************
// Nonlinear factor types // Nonlinear factor types
//************************************************************************* //*************************************************************************
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/CalibratedCamera.h> #include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/StereoPoint2.h> #include <gtsam/geometry/StereoPoint2.h>
#include <gtsam/nonlinear/PriorFactor.h> #include <gtsam/nonlinear/PriorFactor.h>
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>}> 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>}>
virtual class PriorFactor : gtsam::NoiseModelFactor { virtual class PriorFactor : gtsam::NoiseModelFactor {
PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel); PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
T prior() const; T prior() const;
@ -2556,7 +2515,7 @@ virtual class BetweenFactor : gtsam::NoiseModelFactor {
template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2, template <T = {gtsam::Point2, gtsam::StereoPoint2, gtsam::Point3, gtsam::Rot2,
gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2, gtsam::SO3, gtsam::SO4, gtsam::SOn, gtsam::Rot3, gtsam::Pose2,
gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera, gtsam::Pose3, gtsam::Cal3_S2, gtsam::CalibratedCamera,
gtsam::SimpleCamera, gtsam::PinholeCameraCal3_S2, gtsam::PinholeCameraCal3_S2,
gtsam::imuBias::ConstantBias}> gtsam::imuBias::ConstantBias}>
virtual class NonlinearEquality : gtsam::NoiseModelFactor { virtual class NonlinearEquality : gtsam::NoiseModelFactor {
// Constructor - forces exact evaluation // Constructor - forces exact evaluation
@ -2675,7 +2634,7 @@ virtual class GeneralSFMFactor : gtsam::NoiseModelFactor {
gtsam::Point2 measured() const; gtsam::Point2 measured() const;
}; };
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3_S2, gtsam::Point3> GeneralSFMFactorCal3_S2;
//TODO (Issue 237) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2 //TODO (Issue 621) due to lack of jacobians of Cal3DS2_Base::calibrate, GeneralSFMFactor does not apply to Cal3DS2
//typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2; //typedef gtsam::GeneralSFMFactor<gtsam::PinholeCameraCal3DS2, gtsam::Point3> GeneralSFMFactorCal3DS2;
typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler; typedef gtsam::GeneralSFMFactor<gtsam::PinholeCamera<gtsam::Cal3Bundler>, gtsam::Point3> GeneralSFMFactorCal3Bundler;