Merge pull request #1004 from borglab/fix/projection-factor-pppc-docu…

…mentation
borglab · Jan 3, 2022 · 6bfad39 · 6bfad39
2 parents 3c9ace6 + 25c82c9
commit 6bfad39
Showing 1 changed file with 11 additions and 20 deletions.
diff --git a/gtsam_unstable/slam/ProjectionFactorPPPC.h b/gtsam_unstable/slam/ProjectionFactorPPPC.h
@@ -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) {}
 
@@ -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;