Merge branch 'develop' into feature/essential-mat-with-approx-k

borglab · May 25, 2021 · 71b9004 · 71b9004
2 parents 4572282 + ab92779
commit 71b9004
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Showing 38 changed files with 378 additions and 246 deletions.
diff --git a/.github/scripts/boost.sh b/.github/scripts/boost.sh
@@ -2,7 +2,7 @@
 BOOST_FOLDER=boost_${BOOST_VERSION//./_}
 
 # Download Boost
-wget https://dl.bintray.com/boostorg/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz
+wget https://boostorg.jfrog.io/artifactory/main/release/${BOOST_VERSION}/source/${BOOST_FOLDER}.tar.gz
 
 # Unzip
 tar -zxf ${BOOST_FOLDER}.tar.gz

diff --git a/gtsam/discrete/DiscreteBayesNet.h b/gtsam/discrete/DiscreteBayesNet.h
@@ -55,6 +55,9 @@ namespace gtsam {
     template<class DERIVEDCONDITIONAL>
     DiscreteBayesNet(const FactorGraph<DERIVEDCONDITIONAL>& graph) : Base(graph) {}
 
+    /// Destructor
+    virtual ~DiscreteBayesNet() {}
+
     /// @}
 
     /// @name Testable

diff --git a/gtsam/discrete/DiscreteFactor.h b/gtsam/discrete/DiscreteFactor.h
@@ -74,13 +74,14 @@ class GTSAM_EXPORT DiscreteFactor: public Factor {
   /// @name Testable
   /// @{
 
-  // equals
+  /// equals
   virtual bool equals(const DiscreteFactor& lf, double tol = 1e-9) const = 0;
 
-  // print
-  virtual void print(const std::string& s = "DiscreteFactor\n",
-      const KeyFormatter& formatter = DefaultKeyFormatter) const {
-    Factor::print(s, formatter);
+  /// print
+  void print(
+      const std::string& s = "DiscreteFactor\n",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const override {
+    Base::print(s, formatter);
   }
 
   /** Test whether the factor is empty */

diff --git a/gtsam/discrete/DiscreteFactorGraph.h b/gtsam/discrete/DiscreteFactorGraph.h
@@ -91,6 +91,9 @@ public EliminateableFactorGraph<DiscreteFactorGraph> {
   template<class DERIVEDFACTOR>
   DiscreteFactorGraph(const FactorGraph<DERIVEDFACTOR>& graph) : Base(graph) {}
 
+  /// Destructor
+  virtual ~DiscreteFactorGraph() {}
+
   /// @name Testable
   /// @{
 
@@ -129,8 +132,9 @@ public EliminateableFactorGraph<DiscreteFactorGraph> {
   double operator()(const DiscreteFactor::Values & values) const;
 
   /// print
-  void print(const std::string& s = "DiscreteFactorGraph",
-      const KeyFormatter& formatter =DefaultKeyFormatter) const;
+  void print(
+      const std::string& s = "DiscreteFactorGraph",
+      const KeyFormatter& formatter = DefaultKeyFormatter) const override;
 
   /** Solve the factor graph by performing variable elimination in COLAMD order using
    *  the dense elimination function specified in \c function,

diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
@@ -119,22 +119,20 @@ class GTSAM_EXPORT PinholeBase {
   /// @name Standard Constructors
   /// @{
 
-  /** default constructor */
-  PinholeBase() {
-  }
+  /// Default constructor
+  PinholeBase() {}
 
-  /** constructor with pose */
-  explicit PinholeBase(const Pose3& pose) :
-      pose_(pose) {
-  }
+  /// Constructor with pose
+  explicit PinholeBase(const Pose3& pose) : pose_(pose) {}
 
   /// @}
   /// @name Advanced Constructors
   /// @{
 
-  explicit PinholeBase(const Vector &v) :
-      pose_(Pose3::Expmap(v)) {
-  }
+  explicit PinholeBase(const Vector& v) : pose_(Pose3::Expmap(v)) {}
+
+  /// Default destructor
+  virtual ~PinholeBase() = default;
 
   /// @}
   /// @name Testable
@@ -144,7 +142,7 @@ class GTSAM_EXPORT PinholeBase {
   bool equals(const PinholeBase &camera, double tol = 1e-9) const;
 
   /// print
-  void print(const std::string& s = "PinholeBase") const;
+  virtual void print(const std::string& s = "PinholeBase") const;
 
   /// @}
   /// @name Standard Interface
@@ -324,6 +322,11 @@ class GTSAM_EXPORT CalibratedCamera: public PinholeBase {
   /// Return canonical coordinate
   Vector localCoordinates(const CalibratedCamera& T2) const;
 
+  /// print
+  void print(const std::string& s = "CalibratedCamera") const override {
+    PinholeBase::print(s);
+  }
+
   /// @deprecated
   inline size_t dim() const {
     return dimension;

diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
@@ -148,7 +148,7 @@ class PinholeCamera: public PinholeBaseK<Calibration> {
   }
 
   /// print
-  void print(const std::string& s = "PinholeCamera") const {
+  void print(const std::string& s = "PinholeCamera") const override {
     Base::print(s);
     K_.print(s + ".calibration");
   }

diff --git a/gtsam/geometry/PinholePose.h b/gtsam/geometry/PinholePose.h
@@ -340,7 +340,7 @@ class PinholePose: public PinholeBaseK<CALIBRATION> {
   }
 
   /// print
-  void print(const std::string& s = "PinholePose") const {
+  void print(const std::string& s = "PinholePose") const override {
     Base::print(s);
     if (!K_)
       std::cout << "s No calibration given" << std::endl;

diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
@@ -825,7 +825,7 @@ TEST(Rot3, RQ_derivative) {
     const auto R = Rot3::RzRyRx(xyz).matrix();
     const auto num = numericalDerivative11(RQ_proxy, R);
     Matrix39 calc;
-    RQ(R, calc).second;
+    RQ(R, calc);
 
     const auto err = vec_err.second;
     CHECK(assert_equal(num, calc, err));