Camera refactoring (#315)

* Camera Refactoring part 1 (Mac OS X) * fixed camera*** -> Camera*** * Fixed build for cameras Zed/RealSense/RealSense2 * increased version to 0.17.7 * fixed build for cameras K4W2 and FlyCapture2
2026-10-05 01:27:46 +08:00 · 2018-10-01 19:33:56 -04:00
parent eb38b9cfab
commit 0059a4bc1b
116 changed files with 7716 additions and 6799 deletions
@@ -0,0 +1,130 @@
+/*
+ * switchVariableLinear.h
+ *
+ *  Created on: 02.08.2012
+ *      Author: niko
+ */
+
+#ifndef SWITCHVARIABLELINEAR_H_
+#define SWITCHVARIABLELINEAR_H_
+
+#pragma once
+
+#include <gtsam/base/DerivedValue.h>
+#include <gtsam/base/Lie.h>
+
+namespace vertigo {
+
+  /**
+   * SwitchVariableLinear is a wrapper around double to allow it to be a Lie type
+   */
+  struct SwitchVariableLinear : public gtsam::DerivedValue<SwitchVariableLinear> {
+
+    /** default constructor */
+    SwitchVariableLinear() : d_(0.0) {};
+
+    /** wrap a double */
+    SwitchVariableLinear(double d) : d_(d) {
+     // if (d_ < 0.0) d_=0.0;
+     // else if(d_>1.0) d_=1.0;
+    };
+
+    /** access the underlying value */
+    double value() const { return d_; }
+
+    /** print @param s optional string naming the object */
+    inline void print(const std::string& name="") const {
+      std::cout << name << ": " << d_ << std::endl;
+    }
+
+    /** equality up to tolerance */
+    inline bool equals(const SwitchVariableLinear& expected, double tol=1e-5) const {
+      return fabs(expected.d_ - d_) <= tol;
+    }
+
+    // Manifold requirements
+
+    /** Returns dimensionality of the tangent space */
+    inline size_t dim() const { return 1; }
+    inline static size_t Dim() { return 1; }
+
+    /** Update the SwitchVariableLinear with a tangent space update */
+    inline SwitchVariableLinear retract(const gtsam::Vector& v) const {
+      double x = value() + v(0);
+
+      if (x>1.0) x=1.0;
+      else if (x<0.0) x=0.0;
+
+      return SwitchVariableLinear(x);
+    }
+
+    /** @return the local coordinates of another object */
+    inline gtsam::Vector localCoordinates(const SwitchVariableLinear& t2) const { return gtsam::Vector1(t2.value() - value()); }
+
+    // Group requirements
+
+    /** identity */
+    inline static SwitchVariableLinear identity() {
+      return SwitchVariableLinear();
+    }
+
+    /** compose with another object */
+    inline SwitchVariableLinear compose(const SwitchVariableLinear& p) const {
+      return SwitchVariableLinear(d_ + p.d_);
+    }
+
+    /** between operation */
+    inline SwitchVariableLinear between(const SwitchVariableLinear& l2,
+        boost::optional<gtsam::Matrix&> H1=boost::none,
+        boost::optional<gtsam::Matrix&> H2=boost::none) const {
+      if(H1) *H1 = -gtsam::eye(1);
+      if(H2) *H2 = gtsam::eye(1);
+      return SwitchVariableLinear(l2.value() - value());
+    }
+
+    /** invert the object and yield a new one */
+    inline SwitchVariableLinear inverse() const {
+      return SwitchVariableLinear(-1.0 * value());
+    }
+
+    // Lie functions
+
+    /** Expmap around identity */
+    static inline SwitchVariableLinear Expmap(const gtsam::Vector& v) { return SwitchVariableLinear(v(0)); }
+
+    /** Logmap around identity - just returns with default cast back */
+    static inline gtsam::Vector Logmap(const SwitchVariableLinear& p) { return gtsam::Vector1(p.value()); }
+
+  private:
+      double d_;
+  };
+}
+
+namespace gtsam {
+// Define Key to be Testable by specializing gtsam::traits
+template<typename T> struct traits;
+template<> struct traits<vertigo::SwitchVariableLinear> {
+  static void Print(const vertigo::SwitchVariableLinear& key, const std::string& str = "") {
+    key.print(str);
+  }
+  static bool Equals(const vertigo::SwitchVariableLinear& key1, const vertigo::SwitchVariableLinear& key2, double tol = 1e-8) {
+    return key1.equals(key2, tol);
+  }
+  static int GetDimension(const vertigo::SwitchVariableLinear & key) {return key.Dim();}
+
+  typedef OptionalJacobian<3, 3> ChartJacobian;
+  typedef gtsam::Vector TangentVector;
+  static TangentVector Local(const vertigo::SwitchVariableLinear& origin, const vertigo::SwitchVariableLinear& other,
+  ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
+    return origin.localCoordinates(other);
+  }
+  static vertigo::SwitchVariableLinear Retract(const vertigo::SwitchVariableLinear& g, const TangentVector& v,
+        ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
+      return g.retract(v);
+    }
+};
+}
+
+
+
+#endif /* SWITCHVARIABLELINEAR_H_ */