Consistent interface for pixel center (#579)

* defined u0 and v0 in all camera models for consistent interface * deprecate u0/v0 and use px/py everywhere * Use deprecation macro * fix various issues
borglab · Nov 4, 2020 · 6c6cb96 · 6c6cb96
1 parent aab11ea
commit 6c6cb96
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Showing 4 changed files with 27 additions and 5 deletions.
diff --git a/gtsam/geometry/Cal3Bundler.h b/gtsam/geometry/Cal3Bundler.h
@@ -98,6 +98,17 @@ class GTSAM_EXPORT Cal3Bundler {
     return k2_;
   }
 
+  /// image center in x
+  inline double px() const {
+    return u0_;
+  }
+
+  /// image center in y
+  inline double py() const {
+    return v0_;
+  }
+
+#ifdef GTSAM_ALLOW_DEPRECATED_SINCE_V41
   /// get parameter u0
   inline double u0() const {
     return u0_;
@@ -107,6 +118,7 @@ class GTSAM_EXPORT Cal3Bundler {
   inline double v0() const {
     return v0_;
   }
+#endif
 
 
   /**

diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
@@ -597,6 +597,7 @@ class Rot3 {
   Rot3(double R11, double R12, double R13,
       double R21, double R22, double R23,
       double R31, double R32, double R33);
+  Rot3(double w, double x, double y, double z);
 
   static gtsam::Rot3 Rx(double t);
   static gtsam::Rot3 Ry(double t);
@@ -980,8 +981,8 @@ class Cal3Bundler {
   double fy() const;
   double k1() const;
   double k2() const;
-  double u0() const;
-  double v0() const;
+  double px() const;
+  double py() const;
   Vector vector() const;
   Vector k() const;
   Matrix K() const;
@@ -2761,7 +2762,16 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
 };
 
 #include <gtsam/slam/dataset.h>
+
 class SfmTrack {
+  SfmTrack();
+
+  double r;
+  double g;
+  double b;
+  // TODO Need to close wrap#10 to allow this to work.
+  // std::vector<pair<size_t, gtsam::Point2>> measurements;
+
   Point3 point3() const;
   size_t number_measurements() const;
   pair<size_t, gtsam::Point2> measurement(size_t idx) const;

diff --git a/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp b/gtsam/nonlinear/tests/testAdaptAutoDiff.cpp
@@ -41,7 +41,7 @@ struct Cal3Bundler0 : public Cal3Bundler {
                double v0 = 0)
       : Cal3Bundler(f, k1, k2, u0, v0) {}
   Cal3Bundler0 retract(const Vector& d) const {
-    return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), u0(), v0());
+    return Cal3Bundler0(fx() + d(0), k1() + d(1), k2() + d(2), px(), py());
   }
   Vector3 localCoordinates(const Cal3Bundler0& T2) const {
     return T2.vector() - vector();

diff --git a/gtsam/slam/dataset.cpp b/gtsam/slam/dataset.cpp
@@ -1164,8 +1164,8 @@ bool writeBAL(const string &filename, SfmData &data) {
     for (size_t k = 0; k < track.number_measurements();
          k++) { // for each observation of the 3D point j
       size_t i = track.measurements[k].first; // camera id
-      double u0 = data.cameras[i].calibration().u0();
-      double v0 = data.cameras[i].calibration().v0();
+      double u0 = data.cameras[i].calibration().px();
+      double v0 = data.cameras[i].calibration().py();
 
       if (u0 != 0 || v0 != 0) {
         cout << "writeBAL has not been tested for calibration with nonzero "