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release/4.3a0
Fan Jiang 2022-05-03 16:02:00 -04:00
parent 86b9761b5b
commit 21b8365d7b
3 changed files with 26 additions and 22 deletions
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32
gtsam/geometry/geometry.i
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@ -927,6 +927,16 @@ class PinholeCamera {
void serialize() const; void serialize() const;
}; };
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h>
// Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
#include <gtsam/geometry/PinholePose.h> #include <gtsam/geometry/PinholePose.h>
template <CALIBRATION> template <CALIBRATION>
class PinholePose { class PinholePose {
@ -978,6 +988,12 @@ class PinholePose {
void serialize() const; void serialize() const;
}; };
typedef gtsam::PinholePose<gtsam::Cal3_S2> PinholePoseCal3_S2;
typedef gtsam::PinholePose<gtsam::Cal3DS2> PinholePoseCal3DS2;
typedef gtsam::PinholePose<gtsam::Cal3Unified> PinholePoseCal3Unified;
typedef gtsam::PinholePose<gtsam::Cal3Bundler> PinholePoseCal3Bundler;
typedef gtsam::PinholePose<gtsam::Cal3Fisheye> PinholePoseCal3Fisheye;
#include <gtsam/geometry/Similarity2.h> #include <gtsam/geometry/Similarity2.h>
class Similarity2 { class Similarity2 {
// Standard Constructors // Standard Constructors
@ -1024,22 +1040,6 @@ class Similarity3 {
double scale() const; double scale() const;
}; };
// Forward declaration of PinholeCameraCalX is defined here.
#include <gtsam/geometry/SimpleCamera.h>
// Some typedefs for common camera types
// PinholeCameraCal3_S2 is the same as SimpleCamera above
typedef gtsam::PinholeCamera<gtsam::Cal3_S2> PinholeCameraCal3_S2;
typedef gtsam::PinholeCamera<gtsam::Cal3DS2> PinholeCameraCal3DS2;
typedef gtsam::PinholeCamera<gtsam::Cal3Unified> PinholeCameraCal3Unified;
typedef gtsam::PinholeCamera<gtsam::Cal3Bundler> PinholeCameraCal3Bundler;
typedef gtsam::PinholeCamera<gtsam::Cal3Fisheye> PinholeCameraCal3Fisheye;
typedef gtsam::PinholePose<gtsam::Cal3_S2> PinholePoseCal3_S2;
typedef gtsam::PinholePose<gtsam::Cal3DS2> PinholePoseCal3DS2;
typedef gtsam::PinholePose<gtsam::Cal3Unified> PinholePoseCal3Unified;
typedef gtsam::PinholePose<gtsam::Cal3Bundler> PinholePoseCal3Bundler;
typedef gtsam::PinholePose<gtsam::Cal3Fisheye> PinholePoseCal3Fisheye;
template <T> template <T>
class CameraSet { class CameraSet {
CameraSet(); CameraSet();

8
gtsam/sfm/SfmData.h
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@ -77,10 +77,14 @@ struct GTSAM_EXPORT SfmData {
size_t numberCameras() const { return cameras.size(); } size_t numberCameras() const { return cameras.size(); }
/// The track formed by series of landmark measurements /// The track formed by series of landmark measurements
SfmTrack track(size_t idx) const { return tracks[idx]; } const SfmTrack& track(size_t idx) const { return tracks[idx]; }
/// The camera pose at frame index `idx` /// The camera pose at frame index `idx`
SfmCamera camera(size_t idx) const { return cameras[idx]; } const SfmCamera& camera(size_t idx) const { return cameras[idx]; }
/// Getters
const std::vector<SfmCamera>& cameraList() const { return cameras; }
const std::vector<SfmTrack>& trackList() const { return tracks; }
/** /**
* @brief Create projection factors using keys i and P(j) * @brief Create projection factors using keys i and P(j)

8
gtsam/sfm/sfm.i
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@ -36,15 +36,15 @@ class SfmData {
static gtsam::SfmData FromBundlerFile(string filename); static gtsam::SfmData FromBundlerFile(string filename);
static gtsam::SfmData FromBalFile(string filename); static gtsam::SfmData FromBalFile(string filename);
std::vector<gtsam::SfmTrack> tracks; std::vector<gtsam::SfmTrack>& trackList() const;
std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>> cameras; std::vector<gtsam::PinholeCamera<gtsam::Cal3Bundler>>& cameraList() const;
void addTrack(const gtsam::SfmTrack& t); void addTrack(const gtsam::SfmTrack& t);
void addCamera(const gtsam::SfmCamera& cam); void addCamera(const gtsam::SfmCamera& cam);
size_t numberTracks() const; size_t numberTracks() const;
size_t numberCameras() const; size_t numberCameras() const;
gtsam::SfmTrack track(size_t idx) const; gtsam::SfmTrack& track(size_t idx) const;
gtsam::PinholeCamera<gtsam::Cal3Bundler> camera(size_t idx) const; gtsam::PinholeCamera<gtsam::Cal3Bundler>& camera(size_t idx) const;
gtsam::NonlinearFactorGraph generalSfmFactors( gtsam::NonlinearFactorGraph generalSfmFactors(
const gtsam::SharedNoiseModel& model = const gtsam::SharedNoiseModel& model =