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Consistent interface for pixel center #579

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merged 4 commits into from
Nov 4, 2020
Merged

Consistent interface for pixel center #579

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72b69f2
defined u0 and v0 in all camera models for consistent interface
varunagrawal Nov 3, 2020
96bbcb4
deprecate u0/v0 and use px/py everywhere
varunagrawal Nov 3, 2020
d6bc8da
Use deprecation macro
varunagrawal Nov 4, 2020
b4a0011
fix various issues
varunagrawal Nov 4, 2020
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6 changes: 6 additions & 0 deletions gtsam/geometry/Cal3DS2_Base.h
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Expand Up @@ -93,6 +93,12 @@ class GTSAM_EXPORT Cal3DS2_Base {
/// image center in y
inline double py() const { return v0_;}

/// image center in x
inline double u0() const { return u0_; }

/// image center in y
inline double v0() const { return v0_; }

/// First distortion coefficient
inline double k1() const { return k1_;}

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6 changes: 6 additions & 0 deletions gtsam/geometry/Cal3Fisheye.h
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Expand Up @@ -101,6 +101,12 @@ class GTSAM_EXPORT Cal3Fisheye {
/// image center in y
inline double py() const { return v0_; }

/// image center in x
inline double u0() const { return u0_; }

/// image center in y
inline double v0() const { return v0_; }

/// First distortion coefficient
inline double k1() const { return k1_; }

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6 changes: 6 additions & 0 deletions gtsam/geometry/Cal3_S2.h
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Expand Up @@ -118,6 +118,12 @@ class GTSAM_EXPORT Cal3_S2 {
return v0_;
}

/// image center in x
inline double u0() const { return u0_; }

/// image center in y
inline double v0() const { return v0_; }

/// return the principal point
Point2 principalPoint() const {
return Point2(u0_, v0_);
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6 changes: 6 additions & 0 deletions gtsam/geometry/Cal3_S2Stereo.h
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Expand Up @@ -93,6 +93,12 @@ namespace gtsam {
/// image center in y
inline double py() const { return K_.py();}

/// image center in x
inline double u0() const { return K_.px(); }

/// image center in y
inline double v0() const { return K_.py(); }

/// return the principal point
Point2 principalPoint() const { return K_.principalPoint();}

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16 changes: 16 additions & 0 deletions gtsam/gtsam.i
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Expand Up @@ -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);
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Is this related to this PR? (I'm assuming it's a quaternion rot constructor?)

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It isn't, but it was minor and I didn't want to create a whole new PR for it.


static gtsam::Rot3 Rx(double t);
static gtsam::Rot3 Ry(double t);
Expand Down Expand Up @@ -848,6 +849,8 @@ class Cal3_S2 {
double skew() const;
double px() const;
double py() const;
double u0() const;
double v0() const;
gtsam::Point2 principalPoint() const;
Vector vector() const;
Matrix K() const;
Expand All @@ -872,6 +875,8 @@ virtual class Cal3DS2_Base {
double skew() const;
double px() const;
double py() const;
double u0() const;
double v0() const;
double k1() const;
double k2() const;
Matrix K() const;
Expand Down Expand Up @@ -950,6 +955,8 @@ class Cal3_S2Stereo {
double skew() const;
double px() const;
double py() const;
double u0() const;
double v0() const;
gtsam::Point2 principalPoint() const;
double baseline() const;
};
Expand Down Expand Up @@ -2761,7 +2768,16 @@ virtual class EssentialMatrixFactor : gtsam::NoiseModelFactor {
};

#include <gtsam/slam/dataset.h>

class SfmTrack {
SfmTrack();

double r;
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double r,g,b;

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The wrap parser doesn't support this syntax. :(

double g;
double b;
//TODO Need to close wrap#10 to allow this to work.
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Please use Google-style linting, which should flag an issue here.

// 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;
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