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release/4.3a0
Chris Beall 2011-09-07 22:05:13 +00:00
parent 72c2929ad6
commit 6a6634e28c
6 changed files with 44 additions and 43 deletions
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2
gtsam/geometry/Cal3_S2.h
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@ -152,6 +152,6 @@ namespace gtsam {
}
};
typedef boost::shared_ptr<Cal3_S2> shared_ptrK;
typedef boost::shared_ptr<Cal3_S2> shared_ptrK; ///< shared pointer to calibration object
} // gtsam

2
gtsam/geometry/Cal3_S2Stereo.h
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@ -68,6 +68,6 @@ namespace gtsam {
}
};
typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo;
typedef boost::shared_ptr<Cal3_S2Stereo> shared_ptrKStereo; ///< shared pointer to stereo calibration object
}

38
gtsam/slam/GeneralSFMFactor.h
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@ -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<VALUES, CamK, LmK> {
protected:
Point2 z_;
Point2 z_; ///< the 2D measurement
public:
typedef typename CamK::Value Cam;
typedef GeneralSFMFactor<VALUES, CamK, LmK> Self ;
typedef NonlinearFactor2<VALUES, CamK, LmK> Base;
typedef Point2 Measurement;
typedef typename CamK::Value Cam; ///< typedef for camera type
typedef GeneralSFMFactor<VALUES, CamK, LmK> Self ; ///< typedef for this object
typedef NonlinearFactor2<VALUES, CamK, LmK> 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<GeneralSFMFactor<VALUES, LmK, CamK> > 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

12
gtsam/slam/ProjectionFactor.h
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@ -34,8 +34,8 @@ namespace gtsam {
protected:
// Keep a copy of measurement and calibration for I/O
Point2 z_;
boost::shared_ptr<Cal3_S2> K_;
Point2 z_; ///< 2D measurement
boost::shared_ptr<Cal3_S2> 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) :

22
gtsam/slam/StereoFactor.h
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@ -27,16 +27,15 @@ class GenericStereoFactor: public NonlinearFactor2<VALUES, KEY1, KEY2> {
private:
// Keep a copy of measurement and calibration for I/O
StereoPoint2 z_;
boost::shared_ptr<Cal3_S2Stereo> K_;
StereoPoint2 z_; ///< the measurement
boost::shared_ptr<Cal3_S2Stereo> K_; ///< shared pointer to calibration
public:
// shorthand for base class type
typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base;
typedef boost::shared_ptr<GenericStereoFactor> shared_ptr;
typedef typename KEY1::Value CamPose;
typedef StereoPoint2 Measurement;
typedef NonlinearFactor2<VALUES, KEY1, KEY2> Base; ///< typedef for base class
typedef boost::shared_ptr<GenericStereoFactor> 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_;
}

11
gtsam/slam/visualSLAM.h
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@ -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