From 6d33b3c24e880cb7c4f384a6cfc1b33f175b9031 Mon Sep 17 00:00:00 2001
From: cbeall3 <cbeall3@gatech.edu>
Date: Tue, 3 Jun 2014 16:13:50 -0400
Subject: [PATCH] template base class on Camera instead of Calibration

---
 gtsam/slam/SmartFactorBase.h             | 9 ++++-----
 gtsam/slam/SmartProjectionFactor.h       | 4 ++--
 gtsam/slam/SmartStereoProjectionFactor.h | 4 ++--
 3 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/gtsam/slam/SmartFactorBase.h b/gtsam/slam/SmartFactorBase.h
index 29bb26437..7c5abca53 100644
--- a/gtsam/slam/SmartFactorBase.h
+++ b/gtsam/slam/SmartFactorBase.h
@@ -36,7 +36,7 @@
 
 namespace gtsam {
 /// Base class with no internal point, completely functional
-template<class POSE, class Z, class CALIBRATION, size_t D>
+template<class POSE, class Z, class CAMERA, size_t D>
 class SmartFactorBase: public NonlinearFactor {
 
 protected:
@@ -61,7 +61,7 @@ protected:
   typedef NonlinearFactor Base;
 
   /// shorthand for this class
-  typedef SmartFactorBase<POSE, Z, CALIBRATION, D> This;
+  typedef SmartFactorBase<POSE, Z, CAMERA, D> This;
 
 public:
 
@@ -69,8 +69,7 @@ public:
   typedef boost::shared_ptr<This> shared_ptr;
 
   /// shorthand for a pinhole camera
-  typedef PinholeCamera<CALIBRATION> Camera;
-  typedef std::vector<Camera> Cameras;
+  typedef std::vector<CAMERA> Cameras;
 
   /**
    * Constructor
@@ -216,7 +215,7 @@ public:
     double overallError = 0;
 
     size_t i = 0;
-    BOOST_FOREACH(const Camera& camera, cameras) {
+    BOOST_FOREACH(const CAMERA& camera, cameras) {
       const Z& zi = this->measured_.at(i);
       try {
         Z reprojectionError(camera.project(point) - zi);
diff --git a/gtsam/slam/SmartProjectionFactor.h b/gtsam/slam/SmartProjectionFactor.h
index b94b7239f..04112e239 100644
--- a/gtsam/slam/SmartProjectionFactor.h
+++ b/gtsam/slam/SmartProjectionFactor.h
@@ -62,7 +62,7 @@ enum LinearizationMode {
  * TODO: why LANDMARK parameter?
  */
 template<class POSE, class LANDMARK, class CALIBRATION, size_t D>
-class SmartProjectionFactor: public SmartFactorBase<POSE, gtsam::Point2, CALIBRATION, D> {
+class SmartProjectionFactor: public SmartFactorBase<POSE, gtsam::Point2, gtsam::PinholeCamera<CALIBRATION>, D> {
 protected:
 
   // Some triangulation parameters
@@ -92,7 +92,7 @@ protected:
   typedef boost::shared_ptr<SmartProjectionFactorState> SmartFactorStatePtr;
 
   /// shorthand for base class type
-  typedef SmartFactorBase<POSE, gtsam::Point2, CALIBRATION, D> Base;
+  typedef SmartFactorBase<POSE, gtsam::Point2, gtsam::PinholeCamera<CALIBRATION>, D> Base;
 
   double landmarkDistanceThreshold_; // if the landmark is triangulated at a
   // distance larger than that the factor is considered degenerate
diff --git a/gtsam/slam/SmartStereoProjectionFactor.h b/gtsam/slam/SmartStereoProjectionFactor.h
index cd9052f14..56e5fdbf1 100644
--- a/gtsam/slam/SmartStereoProjectionFactor.h
+++ b/gtsam/slam/SmartStereoProjectionFactor.h
@@ -62,7 +62,7 @@ enum LinearizationMode {
  * TODO: why LANDMARK parameter?
  */
 template<class POSE, class LANDMARK, class CALIBRATION, size_t D>
-class SmartStereoProjectionFactor: public SmartFactorBase<POSE, gtsam::Point2, CALIBRATION, D> {
+class SmartStereoProjectionFactor: public SmartFactorBase<POSE, gtsam::Point2, gtsam::PinholeCamera<CALIBRATION>, D> {
 protected:
 
   // Some triangulation parameters
@@ -92,7 +92,7 @@ protected:
   typedef boost::shared_ptr<SmartStereoProjectionFactorState> SmartFactorStatePtr;
 
   /// shorthand for base class type
-  typedef SmartFactorBase<POSE, gtsam::Point2, CALIBRATION, D> Base;
+  typedef SmartFactorBase<POSE, gtsam::Point2, gtsam::PinholeCamera<CALIBRATION>, D> Base;
 
   double landmarkDistanceThreshold_; // if the landmark is triangulated at a
   // distance larger than that the factor is considered degenerate