Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix documentation on ProjectionFactorPPPC #1004

Merged
merged 3 commits into from
Jan 3, 2022
Merged

Fix documentation on ProjectionFactorPPPC #1004

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
b166985
remove unnessecary constructor - use default arguments instead
dwisth Jan 3, 2022
c86e42e
fix constructor documentation
dwisth Jan 3, 2022
25c82c9
change a couple of variables to const
dwisth Jan 3, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
31 changes: 11 additions & 20 deletions gtsam_unstable/slam/ProjectionFactorPPPC.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,34 +57,25 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
measured_(0.0, 0.0), throwCheirality_(false), verboseCheirality_(false) {
}

/**
* Constructor
* TODO: Mark argument order standard (keys, measurement, parameters)
* @param measured is the 2 dimensional location of point in image (the measurement)
* @param model is the standard deviation
* @param poseKey is the index of the camera
* @param pointKey is the index of the landmark
* @param K shared pointer to the constant calibration
*/
ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model,
Key poseKey, Key transformKey, Key pointKey, Key calibKey) :
Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured),
throwCheirality_(false), verboseCheirality_(false) {}

/**
* Constructor with exception-handling flags
* TODO: Mark argument order standard (keys, measurement, parameters)
* @param measured is the 2 dimensional location of point in image (the measurement)
* @param measured is the 2 dimensional location of point in image (the
* measurement)
* @param model is the standard deviation
* @param poseKey is the index of the camera
* @param transformKey is the index of the extrinsic calibration
* @param pointKey is the index of the landmark
* @param K shared pointer to the constant calibration
* @param throwCheirality determines whether Cheirality exceptions are rethrown
* @param verboseCheirality determines whether exceptions are printed for Cheirality
* @param calibKey is the index of the intrinsic calibration
* @param throwCheirality determines whether Cheirality exceptions are
* rethrown
* @param verboseCheirality determines whether exceptions are printed for
* Cheirality
*/
ProjectionFactorPPPC(const Point2& measured, const SharedNoiseModel& model,
Key poseKey, Key transformKey, Key pointKey, Key calibKey,
bool throwCheirality, bool verboseCheirality) :
bool throwCheirality = false, bool verboseCheirality = false) :
Base(model, poseKey, transformKey, pointKey, calibKey), measured_(measured),
throwCheirality_(throwCheirality), verboseCheirality_(verboseCheirality) {}

Expand Down Expand Up @@ -124,8 +115,8 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
try {
if(H1 || H2 || H3 || H4) {
Matrix H0, H02;
PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), K);
Point2 reprojectionError(camera.project(point, H1, H3, H4) - measured_);
const PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), K);
const Point2 reprojectionError(camera.project(point, H1, H3, H4) - measured_);
*H2 = *H1 * H02;
*H1 = *H1 * H0;
return reprojectionError;
Expand Down