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Fixed failed test, which resulted from removal of feature allowing one to pass a landmark in to constructor

release/4.3a0
Zsolt Kira 2013-08-26 12:46:13 +00:00
parent 93a2a486af
commit f779736380
1 changed files with 12 additions and 4 deletions
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16
gtsam_unstable/slam/SmartProjectionFactor.h
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@ -40,9 +40,9 @@ namespace gtsam {
// Keep a copy of measurement and calibration for I/O // Keep a copy of measurement and calibration for I/O
std::vector<Point2> measured_; ///< 2D measurement for each of the m views std::vector<Point2> measured_; ///< 2D measurement for each of the m views
const SharedNoiseModel noise_; ///< noise model used
///< (important that the order is the same as the keys that we use to create the factor) ///< (important that the order is the same as the keys that we use to create the factor)
boost::shared_ptr<CALIBRATION> K_; ///< shared pointer to calibration object boost::shared_ptr<CALIBRATION> K_; ///< shared pointer to calibration object
const SharedNoiseModel noise_; ///< noise model used
boost::optional<Point3> point_; boost::optional<Point3> point_;
boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
@ -77,7 +77,7 @@ namespace gtsam {
std::vector<Key> poseKeys, const boost::shared_ptr<CALIBRATION>& K, std::vector<Key> poseKeys, const boost::shared_ptr<CALIBRATION>& K,
boost::optional<LANDMARK> point = boost::none, boost::optional<LANDMARK> point = boost::none,
boost::optional<POSE> body_P_sensor = boost::none) : boost::optional<POSE> body_P_sensor = boost::none) :
measured_(measured), K_(K), noise_(model), point_(point), body_P_sensor_(body_P_sensor), measured_(measured), noise_(model), K_(K), point_(point), body_P_sensor_(body_P_sensor),
throwCheirality_(false), verboseCheirality_(false) { throwCheirality_(false), verboseCheirality_(false) {
keys_.assign(poseKeys.begin(), poseKeys.end()); keys_.assign(poseKeys.begin(), poseKeys.end());
} }
@ -98,7 +98,7 @@ namespace gtsam {
bool throwCheirality, bool verboseCheirality, bool throwCheirality, bool verboseCheirality,
boost::optional<LANDMARK> point = boost::none, boost::optional<LANDMARK> point = boost::none,
boost::optional<POSE> body_P_sensor = boost::none) : boost::optional<POSE> body_P_sensor = boost::none) :
measured_(measured), K_(K), noise_(model), point_(point), body_P_sensor_(body_P_sensor), measured_(measured), noise_(model), K_(K), point_(point), body_P_sensor_(body_P_sensor),
throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {} throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}
/** /**
@ -191,7 +191,11 @@ namespace gtsam {
// We triangulate the 3D position of the landmark // We triangulate the 3D position of the landmark
boost::optional<Point3> point; boost::optional<Point3> point;
try { try {
point = triangulatePoint3(cameraPoses, measured_, *K_); if (point_) {
point = point_;
} else {
point = triangulatePoint3(cameraPoses, measured_, *K_);
}
} catch( TriangulationCheiralityException& e) { } catch( TriangulationCheiralityException& e) {
// point is behind one of the cameras, turn factor off by setting everything to 0 // point is behind one of the cameras, turn factor off by setting everything to 0
//std::cout << e.what() << std::end; //std::cout << e.what() << std::end;
@ -326,7 +330,11 @@ namespace gtsam {
// We triangulate the 3D position of the landmark // We triangulate the 3D position of the landmark
boost::optional<Point3> point; boost::optional<Point3> point;
try { try {
if (point_) {
point = point_;
} else {
point = triangulatePoint3(cameraPoses, measured_, *K_); point = triangulatePoint3(cameraPoses, measured_, *K_);
}
} catch( TriangulationCheiralityException& e) { } catch( TriangulationCheiralityException& e) {
// point is behind one of the cameras, turn factor off by setting everything to 0 // point is behind one of the cameras, turn factor off by setting everything to 0
//std::cout << e.what() << std::end; //std::cout << e.what() << std::end;