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

Fixed small c++ issues (const, reference) and formatted

release/4.3a0
dellaert 2015-06-20 11:49:13 -07:00
parent e6a563d900
commit 51df837f74
2 changed files with 45 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

62
gtsam/slam/SmartProjectionFactor.h
View File

@ -64,25 +64,30 @@ public:
/// @}
// Constructor
SmartProjectionParams(const LinearizationMode linMode = HESSIAN,
const DegeneracyMode degMode = IGNORE_DEGENERACY, const double rankTol = 1,
const bool enableEPI = false, const double landmarkDistanceThreshold = 1e10,
const double dynamicOutlierRejectionThreshold = -1):
linearizationMode(linMode), degeneracyMode(degMode),
triangulationParameters(rankTol, enableEPI,
landmarkDistanceThreshold, dynamicOutlierRejectionThreshold),
retriangulationThreshold(1e-5),
throwCheirality(false), verboseCheirality(false) {}
SmartProjectionParams(LinearizationMode linMode = HESSIAN,
DegeneracyMode degMode = IGNORE_DEGENERACY, double rankTol = 1,
bool enableEPI = false, double landmarkDistanceThreshold = 1e10,
double dynamicOutlierRejectionThreshold = -1) :
linearizationMode(linMode), degeneracyMode(degMode), triangulationParameters(
rankTol, enableEPI, landmarkDistanceThreshold,
dynamicOutlierRejectionThreshold), retriangulationThreshold(1e-5), throwCheirality(
false), verboseCheirality(false) {
}
virtual ~SmartProjectionParams() {}
virtual ~SmartProjectionParams() {
}
void print(const std::string& str) const {
std::cout << " linearizationMode: " << linearizationMode << "\n";
std::cout << " degeneracyMode: " << degeneracyMode << "\n";
std::cout << " rankTolerance: " << triangulationParameters.rankTolerance << "\n";
std::cout << " enableEPI: " << triangulationParameters.enableEPI << "\n";
std::cout << " landmarkDistanceThreshold: " << triangulationParameters.landmarkDistanceThreshold << "\n";
std::cout << " OutlierRejectionThreshold: " << triangulationParameters.dynamicOutlierRejectionThreshold << "\n";
std::cout << " rankTolerance: "
<< triangulationParameters.rankTolerance << "\n";
std::cout << " enableEPI: "
<< triangulationParameters.enableEPI << "\n";
std::cout << " landmarkDistanceThreshold: "
<< triangulationParameters.landmarkDistanceThreshold << "\n";
std::cout << " OutlierRejectionThreshold: "
<< triangulationParameters.dynamicOutlierRejectionThreshold << "\n";
std::cout.flush();
}
@ -114,10 +119,13 @@ public:
triangulationParameters.enableEPI = enableEPI;
}
inline void setLandmarkDistanceThreshold(bool landmarkDistanceThreshold) {
triangulationParameters.landmarkDistanceThreshold = landmarkDistanceThreshold;
triangulationParameters.landmarkDistanceThreshold =
landmarkDistanceThreshold;
}
inline void setDynamicOutlierRejectionThreshold(bool dynOutRejectionThreshold) {
triangulationParameters.dynamicOutlierRejectionThreshold = dynOutRejectionThreshold;
inline void setDynamicOutlierRejectionThreshold(
bool dynOutRejectionThreshold) {
triangulationParameters.dynamicOutlierRejectionThreshold =
dynOutRejectionThreshold;
}
};
@ -160,11 +168,12 @@ public:
* @param body_P_sensor pose of the camera in the body frame
* @param params internal parameters of the smart factors
*/
SmartProjectionFactor(const boost::optional<Pose3> body_P_sensor = boost::none,
const SmartProjectionParams params = SmartProjectionParams()) :
Base(body_P_sensor),
params_(params), //
result_(TriangulationResult::Degenerate()) {}
SmartProjectionFactor(
const boost::optional<Pose3> body_P_sensor = boost::none,
const SmartProjectionParams& params = SmartProjectionParams()) :
Base(body_P_sensor), params_(params), //
result_(TriangulationResult::Degenerate()) {
}
/** Virtual destructor */
virtual ~SmartProjectionFactor() {
@ -178,8 +187,10 @@ public:
void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const {
std::cout << s << "SmartProjectionFactor\n";
std::cout << "linearizationMode:\n" << params_.linearizationMode << std::endl;
std::cout << "triangulationParameters:\n" << params_.triangulationParameters << std::endl;
std::cout << "linearizationMode:\n" << params_.linearizationMode
<< std::endl;
std::cout << "triangulationParameters:\n" << params_.triangulationParameters
<< std::endl;
std::cout << "result:\n" << result_ << std::endl;
Base::print("", keyFormatter);
}
@ -236,7 +247,8 @@ public:
bool retriangulate = decideIfTriangulate(cameras);
if (retriangulate)
result_ = gtsam::triangulateSafe(cameras, this->measured_, params_.triangulationParameters);
result_ = gtsam::triangulateSafe(cameras, this->measured_,
params_.triangulationParameters);
return result_;
}

11
gtsam/slam/SmartProjectionPoseFactor.h
View File

@ -63,11 +63,13 @@ public:
*/
SmartProjectionPoseFactor(const boost::shared_ptr<CALIBRATION> K,
const boost::optional<Pose3> body_P_sensor = boost::none,
const SmartProjectionParams params = SmartProjectionParams()) :
Base(body_P_sensor, params), K_(K) {}
const SmartProjectionParams& params = SmartProjectionParams()) :
Base(body_P_sensor, params), K_(K) {
}
/** Virtual destructor */
virtual ~SmartProjectionPoseFactor() {}
virtual ~SmartProjectionPoseFactor() {
}
/**
* print
@ -131,7 +133,8 @@ private:
ar & BOOST_SERIALIZATION_NVP(K_);
}
}; // end of class declaration
};
// end of class declaration
/// traits
template<class CALIBRATION>