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modernized default constructors

release/4.3a0
Varun Agrawal 2020-12-02 05:45:20 -05:00
parent 9bc63fa5a9
commit 04597feaa4
9 changed files with 45 additions and 45 deletions
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10
gtsam/geometry/Cal3.h
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@ -68,7 +68,9 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
*/
class GTSAM_EXPORT Cal3 {
protected:
double fx_, fy_, s_, u0_, v0_; ///< focal length, skew and principal point
double fx_ = 1.0f, fy_ = 1.0f; ///< focal length
double s_ = 0.0f; ///< skew
double u0_ = 0.0f, v0_ = 0.0f; ///< principal point
public:
enum { dimension = 5 };
@ -79,14 +81,14 @@ class GTSAM_EXPORT Cal3 {
/// @{
/// Create a default calibration that leaves coordinates unchanged
Cal3() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0) {}
Cal3() = default;
/// constructor from doubles
Cal3(double fx, double fy, double s, double u0, double v0)
: fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {}
/// constructor from vector
Cal3(const Vector& d)
Cal3(const Vector5& d)
: fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) {}
/**
@ -162,7 +164,7 @@ class GTSAM_EXPORT Cal3 {
Matrix3 matrix() const { return K(); }
#endif
/// return inverted calibration matrix inv(K)
/// Return inverted calibration matrix inv(K)
Matrix3 matrix_inverse() const {
const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_;
Matrix3 K_inverse;

10
gtsam/geometry/Cal3Bundler.h
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@ -31,12 +31,12 @@ namespace gtsam {
class GTSAM_EXPORT Cal3Bundler : public Cal3 {
private:
double f_; ///< focal length
double k1_, k2_; ///< radial distortion
double tol_; ///< tolerance value when calibrating
double f_ = 1.0f; ///< focal length
double k1_ = 0.0f, k2_ = 0.0f; ///< radial distortion
double tol_ = 1e-5; ///< tolerance value when calibrating
// NOTE: image center parameters (u0, v0) are not optimized
// but are constants.
// but are treated as constants.
public:
@ -46,7 +46,7 @@ class GTSAM_EXPORT Cal3Bundler : public Cal3 {
/// @{
/// Default constructor
Cal3Bundler() : Cal3(), f_(1), k1_(0), k2_(0), tol_(1e-5) {}
Cal3Bundler() = default;
/**
* Constructor

10
gtsam/geometry/Cal3DS2.h
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@ -42,11 +42,11 @@ public:
/// @{
/// Default Constructor with only unit focal length
Cal3DS2() : Base() {}
Cal3DS2() = default;
Cal3DS2(double fx, double fy, double s, double u0, double v0,
double k1, double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5) :
Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
Cal3DS2(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
: Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}
virtual ~Cal3DS2() {}
@ -54,7 +54,7 @@ public:
/// @name Advanced Constructors
/// @{
Cal3DS2(const Vector &v) : Base(v) {}
Cal3DS2(const Vector9 &v) : Base(v) {}
/// @}
/// @name Testable

10
gtsam/geometry/Cal3DS2_Base.h
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@ -41,9 +41,9 @@ namespace gtsam {
*/
class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
protected:
double k1_, k2_; ///< radial 2nd-order and 4th-order
double p1_, p2_; ///< tangential distortion
double tol_ = 1e-5; ///< tolerance value when calibrating
double k1_ = 0.0f, k2_ = 0.0f; ///< radial 2nd-order and 4th-order
double p1_ = 0.0f, p2_ = 0.0f; ///< tangential distortion
double tol_ = 1e-5; ///< tolerance value when calibrating
public:
enum { dimension = 9 };
@ -52,7 +52,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
/// @{
/// Default Constructor with only unit focal length
Cal3DS2_Base() : Cal3(), k1_(0), k2_(0), p1_(0), p2_(0), tol_(1e-5) {}
Cal3DS2_Base() = default;
Cal3DS2_Base(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
@ -69,7 +69,7 @@ class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
/// @name Advanced Constructors
/// @{
Cal3DS2_Base(const Vector& v)
Cal3DS2_Base(const Vector9& v)
: Cal3(v(0), v(1), v(2), v(3), v(4)),
k1_(v(5)),
k2_(v(6)),

7
gtsam/geometry/Cal3Fisheye.h
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@ -48,8 +48,9 @@ namespace gtsam {
*/
class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
private:
double k1_, k2_, k3_, k4_; ///< fisheye distortion coefficients
double tol_ = 1e-5; ///< tolerance value when calibrating
double k1_ = 0.0f, k2_ = 0.0f; ///< fisheye distortion coefficients
double k3_ = 0.0f, k4_ = 0.0f; ///< fisheye distortion coefficients
double tol_ = 1e-5; ///< tolerance value when calibrating
public:
enum { dimension = 9 };
@ -60,7 +61,7 @@ class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
/// @{
/// Default Constructor with only unit focal length
Cal3Fisheye() : Cal3(), k1_(0), k2_(0), k3_(0), k4_(0), tol_(1e-5) {}
Cal3Fisheye() = default;
Cal3Fisheye(const double fx, const double fy, const double s, const double u0,
const double v0, const double k1, const double k2,

6
gtsam/geometry/Cal3Unified.cpp
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@ -25,10 +25,6 @@
namespace gtsam {
/* ************************************************************************* */
Cal3Unified::Cal3Unified(const Vector& v)
: Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}
/* ************************************************************************* */
Vector10 Cal3Unified::vector() const {
Vector10 v;
@ -136,7 +132,7 @@ Cal3Unified Cal3Unified::retract(const Vector& d) const {
}
/* ************************************************************************* */
Vector10 Cal3Unified::localCoordinates(const Cal3Unified& T2) const {
Vector Cal3Unified::localCoordinates(const Cal3Unified& T2) const {
return T2.vector() - vector();
}

26
gtsam/geometry/Cal3Unified.h
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@ -45,11 +45,10 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
using This = Cal3Unified;
using Base = Cal3DS2_Base;
private:
private:
double xi_ = 0.0f; ///< mirror parameter
double xi_; ///< mirror parameter
public:
public:
enum { dimension = 10 };
@ -57,11 +56,11 @@ public:
/// @{
/// Default Constructor with only unit focal length
Cal3Unified() : Base(), xi_(0) {}
Cal3Unified() = default;
Cal3Unified(double fx, double fy, double s, double u0, double v0,
double k1, double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0) :
Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0)
: Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}
virtual ~Cal3Unified() {}
@ -69,7 +68,8 @@ public:
/// @name Advanced Constructors
/// @{
Cal3Unified(const Vector &v) ;
Cal3Unified(const Vector10& v)
: Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}
/// @}
/// @name Testable
@ -88,6 +88,9 @@ public:
/// mirror parameter
inline double xi() const { return xi_;}
/// Return all parameters as a vector
Vector10 vector() const ;
/**
* convert intrinsic coordinates xy to image coordinates uv
* @param p point in intrinsic coordinates
@ -117,7 +120,7 @@ public:
Cal3Unified retract(const Vector& d) const ;
/// Given a different calibration, calculate update to obtain it
Vector10 localCoordinates(const Cal3Unified& T2) const ;
Vector localCoordinates(const Cal3Unified& T2) const ;
/// Return dimensions of calibration manifold object
virtual size_t dim() const { return dimension ; }
@ -125,9 +128,6 @@ public:
/// Return dimensions of calibration manifold object
static size_t Dim() { return dimension; }
/// Return all parameters as a vector
Vector10 vector() const ;
/// @}
private:

4
gtsam/geometry/Cal3_S2.h
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@ -42,14 +42,14 @@ class GTSAM_EXPORT Cal3_S2 : public Cal3 {
/// @{
/// Create a default calibration that leaves coordinates unchanged
Cal3_S2() : Cal3() {}
Cal3_S2() = default;
/// constructor from doubles
Cal3_S2(double fx, double fy, double s, double u0, double v0)
: Cal3(fx, fy, s, u0, v0) {}
/// constructor from vector
Cal3_S2(const Vector& d) : Cal3(d) {}
Cal3_S2(const Vector5& d) : Cal3(d) {}
/**
* Easy constructor, takes fov in degrees, asssumes zero skew, unit aspect

7
gtsam/geometry/Cal3_S2Stereo.h
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@ -29,7 +29,7 @@ namespace gtsam {
*/
class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
private:
double b_;
double b_ = 1.0f; ///< Stereo baseline.
public:
@ -42,7 +42,7 @@ namespace gtsam {
/// @
/// default calibration leaves coordinates unchanged
Cal3_S2Stereo() : Cal3_S2(1, 1, 0, 0, 0), b_(1.0) {}
Cal3_S2Stereo() = default;
/// constructor from doubles
Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0,
@ -50,7 +50,7 @@ namespace gtsam {
: Cal3_S2(fx, fy, s, u0, v0), b_(b) {}
/// constructor from vector
Cal3_S2Stereo(const Vector& d)
Cal3_S2Stereo(const Vector6& d)
: Cal3_S2(d(0), d(1), d(2), d(3), d(4)), b_(d(5)) {}
/// easy constructor; field-of-view in degrees, assumes zero skew
@ -61,6 +61,7 @@ namespace gtsam {
/// @name Testable
/// @{
/// print with optional string
void print(const std::string& s = "") const override;
/// Check if equal up to specified tolerance