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template base class on Camera instead of Calibration

release/4.3a0
cbeall3 2014-06-03 16:13:50 -04:00
parent c583564098
commit 6d33b3c24e
3 changed files with 8 additions and 9 deletions
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9
gtsam/slam/SmartFactorBase.h
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@ -36,7 +36,7 @@
namespace gtsam { namespace gtsam {
/// Base class with no internal point, completely functional /// 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 { class SmartFactorBase: public NonlinearFactor {
protected: protected:
@ -61,7 +61,7 @@ protected:
typedef NonlinearFactor Base; typedef NonlinearFactor Base;
/// shorthand for this class /// shorthand for this class
typedef SmartFactorBase<POSE, Z, CALIBRATION, D> This; typedef SmartFactorBase<POSE, Z, CAMERA, D> This;
public: public:
@ -69,8 +69,7 @@ public:
typedef boost::shared_ptr<This> shared_ptr; typedef boost::shared_ptr<This> shared_ptr;
/// shorthand for a pinhole camera /// shorthand for a pinhole camera
typedef PinholeCamera<CALIBRATION> Camera; typedef std::vector<CAMERA> Cameras;
typedef std::vector<Camera> Cameras;
/** /**
* Constructor * Constructor
@ -216,7 +215,7 @@ public:
double overallError = 0; double overallError = 0;
size_t i = 0; size_t i = 0;
BOOST_FOREACH(const Camera& camera, cameras) { BOOST_FOREACH(const CAMERA& camera, cameras) {
const Z& zi = this->measured_.at(i); const Z& zi = this->measured_.at(i);
try { try {
Z reprojectionError(camera.project(point) - zi); Z reprojectionError(camera.project(point) - zi);

4
gtsam/slam/SmartProjectionFactor.h
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@ -62,7 +62,7 @@ enum LinearizationMode {
* TODO: why LANDMARK parameter? * TODO: why LANDMARK parameter?
*/ */
template<class POSE, class LANDMARK, class CALIBRATION, size_t D> 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: protected:
// Some triangulation parameters // Some triangulation parameters
@ -92,7 +92,7 @@ protected:
typedef boost::shared_ptr<SmartProjectionFactorState> SmartFactorStatePtr; typedef boost::shared_ptr<SmartProjectionFactorState> SmartFactorStatePtr;
/// shorthand for base class type /// 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 double landmarkDistanceThreshold_; // if the landmark is triangulated at a
// distance larger than that the factor is considered degenerate // distance larger than that the factor is considered degenerate

4
gtsam/slam/SmartStereoProjectionFactor.h
View File

@ -62,7 +62,7 @@ enum LinearizationMode {
* TODO: why LANDMARK parameter? * TODO: why LANDMARK parameter?
*/ */
template<class POSE, class LANDMARK, class CALIBRATION, size_t D> 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: protected:
// Some triangulation parameters // Some triangulation parameters
@ -92,7 +92,7 @@ protected:
typedef boost::shared_ptr<SmartStereoProjectionFactorState> SmartFactorStatePtr; typedef boost::shared_ptr<SmartStereoProjectionFactorState> SmartFactorStatePtr;
/// shorthand for base class type /// 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 double landmarkDistanceThreshold_; // if the landmark is triangulated at a
// distance larger than that the factor is considered degenerate // distance larger than that the factor is considered degenerate