From 8010f42cf179c4c0b7e6bc891db6755e3569ff6a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 8 Feb 2021 17:45:28 +0100
Subject: [PATCH] working
---
include/vision/factor/factor_ahp.h | 6 +-----
include/vision/factor/factor_epipolar.h | 6 +-----
include/vision/factor/factor_pixel_hp.h | 6 +-----
include/vision/factor/factor_trifocal.h | 6 +-----
4 files changed, 4 insertions(+), 20 deletions(-)
diff --git a/include/vision/factor/factor_ahp.h b/include/vision/factor/factor_ahp.h
index ad23d04da..0bbb5332c 100644
--- a/include/vision/factor/factor_ahp.h
+++ b/include/vision/factor/factor_ahp.h
@@ -33,11 +33,6 @@ class FactorAhp : public FactorAutodiff<FactorAhp, 2, 3, 4, 3, 4, 4>
~FactorAhp() override = default;
- std::string getTopology() const override
- {
- return std::string("LMK");
- }
-
template<typename T>
void expectation(const T* const _current_frame_p,
const T* const _current_frame_o,
@@ -63,6 +58,7 @@ inline FactorAhp::FactorAhp(const FeatureBasePtr& _ftr_ptr,
bool _apply_loss_function,
FactorStatus _status) :
FactorAutodiff<FactorAhp, 2, 3, 4, 3, 4, 4>("AHP",
+ TOP_LMK,
_ftr_ptr,
_landmark_ptr->getAnchorFrame(),
nullptr,
diff --git a/include/vision/factor/factor_epipolar.h b/include/vision/factor/factor_epipolar.h
index 01bd843ce..f848cca79 100644
--- a/include/vision/factor/factor_epipolar.h
+++ b/include/vision/factor/factor_epipolar.h
@@ -21,11 +21,6 @@ class FactorEpipolar : public FactorAutodiff<FactorEpipolar, 1, 3, 4, 3, 4, 3, 4
~FactorEpipolar() override = default;
- std::string getTopology() const override
- {
- return std::string("GEOM");
- }
-
template<typename T>
bool operator ()(const T* const _frame_own_p,
const T* const _frame_own_o,
@@ -47,6 +42,7 @@ inline FactorEpipolar::FactorEpipolar(const FeatureBasePtr& _feature_ptr,
bool _apply_loss_function,
FactorStatus _status) :
FactorAutodiff<FactorEpipolar, 1, 3, 4, 3, 4, 3, 4>("FEATURE EPIPOLAR",
+ TOP_GEOM,
_feature_ptr,
nullptr,
nullptr,
diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h
index f56bd8185..ce65ce2aa 100644
--- a/include/vision/factor/factor_pixel_hp.h
+++ b/include/vision/factor/factor_pixel_hp.h
@@ -32,11 +32,6 @@ class FactorPixelHp : public FactorAutodiff<FactorPixelHp, 2, 3, 4, 3, 4, 4>
~FactorPixelHp() override = default;
- std::string getTopology() const override
- {
- return std::string("LMK");
- }
-
template<typename T>
void expectation(const T* const _frame_p,
const T* const _frame_o,
@@ -62,6 +57,7 @@ inline FactorPixelHp::FactorPixelHp(const FeatureBasePtr& _ftr_ptr,
bool _apply_loss_function,
FactorStatus _status) :
FactorAutodiff<FactorPixelHp, 2, 3, 4, 3, 4, 4>("PIXELHP",
+ TOP_LMK,
_ftr_ptr,
nullptr,
nullptr,
diff --git a/include/vision/factor/factor_trifocal.h b/include/vision/factor/factor_trifocal.h
index e7d698cf5..9a441bd12 100644
--- a/include/vision/factor/factor_trifocal.h
+++ b/include/vision/factor/factor_trifocal.h
@@ -33,11 +33,6 @@ class FactorTrifocal : public FactorAutodiff<FactorTrifocal, 3, 3, 4, 3, 4, 3, 4
*/
~FactorTrifocal() override;
- std::string getTopology() const override
- {
- return std::string("GEOM");
- }
-
FeatureBasePtr getFeaturePrev();
const Vector3d& getPixelCanonical3() const
@@ -151,6 +146,7 @@ FactorTrifocal::FactorTrifocal(const FeatureBasePtr& _feature_1_ptr,
bool _apply_loss_function,
FactorStatus _status) :
FactorAutodiff( "TRIFOCAL PLP",
+ TOP_GEOM,
_feature_own_ptr,
nullptr,
nullptr,
--
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