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hasUniqueCameras to camel case

release/4.3a0
senselessdev1 2022-07-24 02:54:07 -04:00
parent 51fb3750e8
commit e6ccf97712
2 changed files with 99 additions and 105 deletions
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20
gtsam/sfm/DsfTrackGenerator.h
View File

@ -17,7 +17,6 @@
*/ */
#pragma once #pragma once
#include <pybind11/stl.h>
#include <Eigen/Core> #include <Eigen/Core>
#include <gtsam/base/DSFMap.h> #include <gtsam/base/DSFMap.h>
@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
using KeypointCoordinates = Eigen::MatrixX2d; using KeypointCoordinates = Eigen::MatrixX2d;
struct Keypoints struct Keypoints {
{
KeypointCoordinates coordinates; KeypointCoordinates coordinates;
// typedef'd for Eigen::VectorXd // typedef'd for Eigen::VectorXd
boost::optional<gtsam::Vector> scales; boost::optional<gtsam::Vector> scales;
@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
// @param camera index // @param camera index
// @param 2d measurement // @param 2d measurement
// Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h) // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
struct NamedSfmMeasurement struct NamedSfmMeasurement {
{
size_t i; size_t i;
gtsam::Point2 uv; gtsam::Point2 uv;
@ -71,8 +68,7 @@ struct NamedSfmMeasurement
* Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
* This class holds data temporarily before 3D point is initialized. * This class holds data temporarily before 3D point is initialized.
*/ */
class SfmTrack2d class SfmTrack2d {
{
private: private:
std::vector<NamedSfmMeasurement> measurements_; std::vector<NamedSfmMeasurement> measurements_;
@ -85,7 +81,7 @@ class SfmTrack2d
// @brief Validates the track by checking that no two measurements are from the same camera. // @brief Validates the track by checking that no two measurements are from the same camera.
// //
// returns boolean result of the validation. // returns boolean result of the validation.
bool has_unique_cameras() bool hasUniqueCameras()
{ {
std::vector<int> track_cam_idxs; std::vector<int> track_cam_idxs;
for (auto & measurement : measurements_) for (auto & measurement : measurements_)
@ -101,8 +97,7 @@ class SfmTrack2d
/** /**
* @brief Generates point tracks from connected components in the keypoint matches graph. * @brief Generates point tracks from connected components in the keypoint matches graph.
*/ */
class DsfTrackGenerator class DsfTrackGenerator {
{
public: public:
/** Default constructor. */ /** Default constructor. */
@ -119,8 +114,7 @@ class DsfTrackGenerator
// @param Length-N list of keypoints, for N images/cameras. // @param Length-N list of keypoints, for N images/cameras.
std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches( std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
const MatchIndicesMap& matches_dict, const MatchIndicesMap& matches_dict,
const KeypointsList& keypoints_list) const KeypointsList& keypoints_list) {
{
std::vector<SfmTrack2d> track_2d_list; std::vector<SfmTrack2d> track_2d_list;
std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl; std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
@ -171,7 +165,7 @@ class DsfTrackGenerator
// Skip erroneous track that had repeated measurements within the same image. // Skip erroneous track that had repeated measurements within the same image.
// This is an expected result from an incorrect correspondence slipping through. // This is an expected result from an incorrect correspondence slipping through.
if (track_2d.has_unique_cameras()) if (track_2d.hasUniqueCameras())
{ {
track_2d_list.emplace_back(track_2d); track_2d_list.emplace_back(track_2d);
} else { } else {

16
gtsam/sfm/sfm.i
View File

@ -17,6 +17,13 @@ class MatchIndicesMap {
}; };
class Keypoints
{
Keypoints(const gtsam::KeypointCoordinates& coordinates);
gtsam::KeypointCoordinates coordinates;
}; // check if this should be a method
class KeypointsList { class KeypointsList {
KeypointsList(); KeypointsList();
KeypointsList(const gtsam::KeypointsList& other); KeypointsList(const gtsam::KeypointsList& other);
@ -28,13 +35,6 @@ class KeypointsList {
}; };
class Keypoints
{
Keypoints(const gtsam::KeypointCoordinates& coordinates);
gtsam::KeypointCoordinates coordinates;
}; // check if this should be a method
class NamedSfmMeasurement class NamedSfmMeasurement
{ {
size_t i; size_t i;
@ -46,7 +46,7 @@ class SfmTrack2d
{ {
void addMeasurement(const gtsam::NamedSfmMeasurement &m); void addMeasurement(const gtsam::NamedSfmMeasurement &m);
std::vector<gtsam::NamedSfmMeasurement> measurements(); std::vector<gtsam::NamedSfmMeasurement> measurements();
bool has_unique_cameras(); bool hasUniqueCameras();
}; };