12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

(in branch) added DerivedValue base class to geometry objects

release/4.3a0
Richard Roberts 2012-01-27 19:50:46 +00:00
parent 6dde91f636
commit 0eaf241340
15 changed files with 32 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/geometry/Cal3Bundler.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -27,7 +28,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Cal3Bundler {
class Cal3Bundler : public DerivedValue<Cal3Bundler> {
private:
double f_, k1_, k2_ ;

3
gtsam/geometry/Cal3DS2.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -27,7 +28,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Cal3DS2 {
class Cal3DS2 : public DerivedValue<Cal3DS2> {
private:

3
gtsam/geometry/Cal3_S2.h
View File

@ -21,6 +21,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -30,7 +31,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Cal3_S2 {
class Cal3_S2 : public DerivedValue<Cal3_S2> {
private:
double fx_, fy_, s_, u0_, v0_;

2
gtsam/geometry/Cal3_S2Stereo.h
View File

@ -26,7 +26,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Cal3_S2Stereo: public Cal3_S2 {
class Cal3_S2Stereo: public DerivedValue<Cal3_S2Stereo>, public Cal3_S2 {
private:
double b_;

3
gtsam/geometry/CalibratedCamera.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
@ -35,7 +36,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class CalibratedCamera {
class CalibratedCamera : public DerivedValue<CalibratedCamera> {
private:
Pose3 pose_; // 6DOF pose

4
gtsam/geometry/CalibratedCameraT.h
View File

@ -8,6 +8,8 @@
#pragma once
#include <boost/optional.hpp>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/geometry/Pose3.h>
@ -23,7 +25,7 @@ namespace gtsam {
* \nosubgrouping
*/
template <typename Calibration>
class CalibratedCameraT {
class CalibratedCameraT : public DerivedValue<CalibratedCameraT<Calibration> > {
private:
Pose3 pose_; // 6DOF pose
Calibration k_;

3
gtsam/geometry/GeneralCameraT.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
#include <gtsam/geometry/Cal3Bundler.h>
@ -31,7 +32,7 @@ namespace gtsam {
* \nosubgrouping
*/
template <typename Camera, typename Calibration>
class GeneralCameraT {
class GeneralCameraT : public DerivedValue<GeneralCameraT<Camera, Calibration> > {
private:
Camera calibrated_; // Calibrated camera

4
gtsam/geometry/Point2.h
View File

@ -18,6 +18,8 @@
#pragma once
#include <boost/serialization/nvp.hpp>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/Lie.h>
@ -30,7 +32,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Point2 {
class Point2 : DerivedValue<Point2> {
public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 2;

3
gtsam/geometry/Point3.h
View File

@ -24,6 +24,7 @@
#include <boost/serialization/nvp.hpp>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/base/Lie.h>
namespace gtsam {
@ -33,7 +34,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Point3 {
class Point3 : public DerivedValue<Point3> {
public:
/// dimension of the variable - used to autodetect sizes
static const size_t dimension = 3;

3
gtsam/geometry/Pose2.h
View File

@ -22,6 +22,7 @@
#include <boost/optional.hpp>
#include <gtsam/base/Matrix.h>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
#include <gtsam/geometry/Rot2.h>
@ -32,7 +33,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Pose2 {
class Pose2 : public DerivedValue<Pose2> {
public:
static const size_t dimension = 3;

3
gtsam/geometry/Pose3.h
View File

@ -22,6 +22,7 @@
#define POSE3_DEFAULT_COORDINATES_MODE Pose3::FIRST_ORDER
#endif
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point3.h>
#include <gtsam/geometry/Rot3.h>
@ -34,7 +35,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Pose3 {
class Pose3 : public DerivedValue<Pose3> {
public:
static const size_t dimension = 6;

4
gtsam/geometry/Rot2.h
View File

@ -19,6 +19,8 @@
#pragma once
#include <boost/optional.hpp>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -29,7 +31,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class Rot2 {
class Rot2 : public DerivedValue<Rot2> {
public:
/** get the dimension by the type */

3
gtsam/geometry/SimpleCamera.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/CalibratedCamera.h>
#include <gtsam/geometry/Cal3_S2.h>
@ -29,7 +30,7 @@ namespace gtsam {
* to produce measurements in pixels.
* Not a sublass as a SimpleCamera *is not* a CalibratedCamera.
*/
class SimpleCamera {
class SimpleCamera : public DerivedValue<SimpleCamera> {
private:
CalibratedCamera calibrated_; // Calibrated camera
Cal3_S2 K_; // Calibration

2
gtsam/geometry/StereoCamera.h
View File

@ -18,6 +18,8 @@
#pragma once
#include <boost/tuple/tuple.hpp>
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/StereoPoint2.h>

3
gtsam/geometry/StereoPoint2.h
View File

@ -18,6 +18,7 @@
#pragma once
#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>
namespace gtsam {
@ -27,7 +28,7 @@ namespace gtsam {
* @ingroup geometry
* \nosubgrouping
*/
class StereoPoint2 {
class StereoPoint2 : public DerivedValue<StereoPoint2> {
public:
static const size_t dimension = 3;
private: