removed the use of zeroTangentVector from PinholeCamera (#262)

borglab · Jan 19, 2021 · 58a29e7 · 58a29e7
1 parent 9eca609
commit 58a29e7
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Showing 4 changed files with 10 additions and 3 deletions.
diff --git a/Sources/SwiftFusion/Geometry/Cal3_S2.swift b/Sources/SwiftFusion/Geometry/Cal3_S2.swift
@@ -39,6 +39,11 @@ extension Cal3_S2: CameraCalibration {
   }
 }
 
+extension Cal3_S2 {
+  public func zeroTangentVector() -> Cal3_S2.TangentVector {
+    return Vector5(0.0, 0.0, 0.0, 0.0, 0.0)
+  }
+}
 
 /// Manifold coordinate for Cal3_S2.
 public struct Cal3_S2Coordinate: Equatable {

diff --git a/Sources/SwiftFusion/Geometry/CameraCalibration.swift b/Sources/SwiftFusion/Geometry/CameraCalibration.swift
@@ -12,4 +12,6 @@ public protocol CameraCalibration: Differentiable {
   /// Converts from normalized coordinate to image coordinate.
   @differentiable
   func uncalibrate(_ np: Vector2) -> Vector2
+
+  func zeroTangentVector() -> TangentVector
 }
diff --git a/Sources/SwiftFusion/Geometry/PinholeCamera.swift b/Sources/SwiftFusion/Geometry/PinholeCamera.swift
@@ -78,7 +78,7 @@ extension PinholeCamera {
           p.x * (R[0, 2] - u * R[2, 2]) + p.y * (R[1, 2] - v * R[2, 2]))
 
         return (
-          TangentVector(wTc: dpose, calibration: calibration.zeroTangentVector),
+          TangentVector(wTc: dpose, calibration: calibration.zeroTangentVector()),
           dpoint)
       }
     )

diff --git a/Tests/SwiftFusionTests/Geometry/PinholeCameraTests.swift b/Tests/SwiftFusionTests/Geometry/PinholeCameraTests.swift
@@ -79,12 +79,12 @@ final class PinholeCameraTests: XCTestCase {
     let dxExpected = (
       PinholeCamera<Cal3_S2>.TangentVector(
         wTc: Vector6(-1.0, -2.0, -1.0, -1.0, 0.0, 1.0), 
-        calibration: K.zeroTangentVector),
+        calibration: K.zeroTangentVector()),
       Vector3(1.0, 0.0, 1.0))
     let dyExpected = (
       PinholeCamera<Cal3_S2>.TangentVector(
         wTc: Vector6(2.0, 1.0, -1.0, 0.0, -1.0, -1.0), 
-        calibration: K.zeroTangentVector),
+        calibration: K.zeroTangentVector()),
       Vector3(0.0, -1.0, -1.0))
 
     assertAllKeyPathEqual(p, Vector2(1.0, -1.0), accuracy: 1e-10)