diff --git a/gtsam/geometry/Cal3_S2.h b/gtsam/geometry/Cal3_S2.h index b59cf9216..4c265f86a 100644 --- a/gtsam/geometry/Cal3_S2.h +++ b/gtsam/geometry/Cal3_S2.h @@ -152,6 +152,6 @@ namespace gtsam { } }; - typedef boost::shared_ptr shared_ptrK; + typedef boost::shared_ptr shared_ptrK; ///< shared pointer to calibration object } // gtsam diff --git a/gtsam/geometry/Cal3_S2Stereo.h b/gtsam/geometry/Cal3_S2Stereo.h index 12585bf83..ca97f0461 100644 --- a/gtsam/geometry/Cal3_S2Stereo.h +++ b/gtsam/geometry/Cal3_S2Stereo.h @@ -68,6 +68,6 @@ namespace gtsam { } }; - typedef boost::shared_ptr shared_ptrKStereo; + typedef boost::shared_ptr shared_ptrKStereo; ///< shared pointer to stereo calibration object } diff --git a/gtsam/slam/GeneralSFMFactor.h b/gtsam/slam/GeneralSFMFactor.h index bd3e251ae..37f084033 100644 --- a/gtsam/slam/GeneralSFMFactor.h +++ b/gtsam/slam/GeneralSFMFactor.h @@ -9,12 +9,13 @@ * -------------------------------------------------------------------------- */ -/* - * GeneralSFMFactor.h +/** + * @file GeneralSFMFactor.h * - * Created on: Dec 15, 2010 - * Author: nikai - * Description: a general SFM factor with an unknown calibration + * @brief a general SFM factor with an unknown calibration + * + * @date Dec 15, 2010 + * @author Kai Ni */ #pragma once @@ -31,14 +32,14 @@ namespace gtsam { class GeneralSFMFactor: public NonlinearFactor2 { protected: - Point2 z_; + Point2 z_; ///< the 2D measurement public: - typedef typename CamK::Value Cam; - typedef GeneralSFMFactor Self ; - typedef NonlinearFactor2 Base; - typedef Point2 Measurement; + typedef typename CamK::Value Cam; ///< typedef for camera type + typedef GeneralSFMFactor Self ; ///< typedef for this object + typedef NonlinearFactor2 Base; ///< typedef for the base class + typedef Point2 Measurement; ///< typedef for the measurement // shorthand for a smart pointer to a factor typedef boost::shared_ptr > shared_ptr; @@ -46,18 +47,17 @@ namespace gtsam { /** * Constructor * @param z is the 2 dimensional location of point in image (the measurement) - * @param sigma is the standard deviation - * @param cameraFrameNumber is basically the frame number - * @param landmarkNumber is the index of the landmark - * @param K the constant calibration + * @param model is the standard deviation of the measurements + * @param i is basically the frame number + * @param j is the index of the landmark */ - - GeneralSFMFactor():z_(0.0,0.0) {} - GeneralSFMFactor(const Point2 & p):z_(p) {} - GeneralSFMFactor(double x, double y):z_(x,y) {} GeneralSFMFactor(const Point2& z, const SharedNoiseModel& model, const CamK& i, const LmK& j) : Base(model, i, j), z_(z) {} - virtual ~GeneralSFMFactor() {} + GeneralSFMFactor():z_(0.0,0.0) {} ///< default constructor + GeneralSFMFactor(const Point2 & p):z_(p) {} ///< constructor that takes a Point2 + GeneralSFMFactor(double x, double y):z_(x,y) {} ///< constructor that takes doubles x,y to make a Point2 + + virtual ~GeneralSFMFactor() {} ///< destructor /** * print diff --git a/gtsam/slam/ProjectionFactor.h b/gtsam/slam/ProjectionFactor.h index d1a6dfe4c..2d25d70a9 100644 --- a/gtsam/slam/ProjectionFactor.h +++ b/gtsam/slam/ProjectionFactor.h @@ -34,8 +34,8 @@ namespace gtsam { protected: // Keep a copy of measurement and calibration for I/O - Point2 z_; - boost::shared_ptr K_; + Point2 z_; ///< 2D measurement + boost::shared_ptr K_; ///< shared pointer to calibration object public: @@ -53,10 +53,10 @@ namespace gtsam { /** * Constructor * @param z is the 2 dimensional location of point in image (the measurement) - * @param sigma is the standard deviation - * @param cameraFrameNumber is basically the frame number - * @param landmarkNumber is the index of the landmark - * @param K the constant calibration + * @param model is the standard deviation + * @param j_pose is basically the frame number + * @param j_landmark is the index of the landmark + * @param K shared pointer to the constant calibration */ GenericProjectionFactor(const Point2& z, const SharedNoiseModel& model, POSK j_pose, LMK j_landmark, const shared_ptrK& K) : diff --git a/gtsam/slam/StereoFactor.h b/gtsam/slam/StereoFactor.h index 13dc8b3e4..616c012a1 100644 --- a/gtsam/slam/StereoFactor.h +++ b/gtsam/slam/StereoFactor.h @@ -27,16 +27,15 @@ class GenericStereoFactor: public NonlinearFactor2 { private: // Keep a copy of measurement and calibration for I/O - StereoPoint2 z_; - boost::shared_ptr K_; + StereoPoint2 z_; ///< the measurement + boost::shared_ptr K_; ///< shared pointer to calibration public: // shorthand for base class type - typedef NonlinearFactor2 Base; - typedef boost::shared_ptr shared_ptr; - typedef typename KEY1::Value CamPose; - typedef StereoPoint2 Measurement; + typedef NonlinearFactor2 Base; ///< typedef for base class + typedef boost::shared_ptr shared_ptr; ///< typedef for shared pointer to this object + typedef typename KEY1::Value CamPose; ///< typedef for Pose Lie Value type /** * Default constructor @@ -45,10 +44,10 @@ public: /** * Constructor - * @param z is the 2 dimensional location of point in image (the measurement) - * @param sigma is the standard deviation - * @param cameraFrameNumber is basically the frame number - * @param landmarkNumber is the index of the landmark + * @param z is the Stereo Point measurement (u_l, u_r, v). v will be identical for left & right for rectified stereo pair + * @param model is the noise model in on the measurement + * @param j_pose the pose index + * @param j_landmark the landmark index * @param K the constant calibration */ GenericStereoFactor(const StereoPoint2& z, const SharedNoiseModel& model, KEY1 j_pose, @@ -56,7 +55,7 @@ public: Base(model, j_pose, j_landmark), z_(z), K_(K) { } - ~GenericStereoFactor() {} + ~GenericStereoFactor() {} ///< desctructor /** * print @@ -91,6 +90,7 @@ public: return (stereoCam.project(point, H1, H2) - z_).vector(); } + /// get the measurement z StereoPoint2 z() { return z_; } diff --git a/gtsam/slam/visualSLAM.h b/gtsam/slam/visualSLAM.h index a8ba06bd2..2b5eff78d 100644 --- a/gtsam/slam/visualSLAM.h +++ b/gtsam/slam/visualSLAM.h @@ -9,11 +9,12 @@ * -------------------------------------------------------------------------- */ -/* - * visualSLAM.h - * - * Created on: Jan 14, 2010 - * Author: Richard Roberts and Chris Beall +/** + * @file visualSLAM.h + * @brief Basic typedefs for general VisualSLAM problems. Useful for monocular and stereo systems. + * @date Jan 14, 2010 + * @author Richard Roberts + * @author Chris Beall */ #pragma once