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ahojnnesahojnnes
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Rename RigCalibration to RigCalib (colmap#3142)
Let's save us some characters to write going forward. Was starting to play around with serialization and got already annoyed by typing out the full RigRalibration name.
1 parent d088fcb commit 448ff95

6 files changed

Lines changed: 45 additions & 48 deletions

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‎src/colmap/scene/frame.h‎

Lines changed: 14 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -83,11 +83,10 @@ class Frame {
8383
inline bool HasData(data_t data_id) const;
8484

8585
// Access the rig calibration
86-
inline const std::shared_ptr<class RigCalibration>& RigCalibration() const;
87-
inline void SetRigCalibration(
88-
std::shared_ptr<class RigCalibration> rig_calibration);
86+
inline const std::shared_ptr<class RigCalib>& RigCalib() const;
87+
inline void SetRigCalib(std::shared_ptr<class RigCalib> rig_calib);
8988
// Check if the frame has a non-trivial rig calibration
90-
inline bool HasRigCalibration() const;
89+
inline bool HasRigCalib() const;
9190

9291
// Access the frame from world transformation
9392
inline const Rigid3d& FrameFromWorld() const;
@@ -112,7 +111,7 @@ class Frame {
112111
std::optional<Rigid3d> frame_from_world_;
113112

114113
// [Optional] Rig calibration
115-
std::shared_ptr<class RigCalibration> rig_calibration_ = nullptr;
114+
std::shared_ptr<class RigCalib> rig_calib_ = nullptr;
116115
};
117116

118117
////////////////////////////////////////////////////////////////////////////////
@@ -133,20 +132,19 @@ bool Frame::HasData(data_t data_id) const {
133132
return data_ids_.find(data_id) != data_ids_.end();
134133
}
135134

136-
const std::shared_ptr<class RigCalibration>& Frame::RigCalibration() const {
137-
return rig_calibration_;
135+
const std::shared_ptr<class RigCalib>& Frame::RigCalib() const {
136+
return rig_calib_;
138137
}
139138

140-
void Frame::SetRigCalibration(
141-
std::shared_ptr<class RigCalibration> rig_calibration) {
142-
rig_calibration_ = std::move(rig_calibration);
139+
void Frame::SetRigCalib(std::shared_ptr<class RigCalib> rig_calib) {
140+
rig_calib_ = std::move(rig_calib);
143141
}
144142

145-
bool Frame::HasRigCalibration() const {
146-
if (!rig_calibration_)
143+
bool Frame::HasRigCalib() const {
144+
if (!rig_calib_)
147145
return false;
148146
else
149-
return rig_calibration_->NumSensors() > 1;
147+
return rig_calib_->NumSensors() > 1;
150148
}
151149

152150
const Rigid3d& Frame::FrameFromWorld() const {
@@ -180,11 +178,11 @@ bool Frame::HasPose() const { return frame_from_world_.has_value(); }
180178
void Frame::ResetPose() { frame_from_world_.reset(); }
181179

182180
Rigid3d Frame::SensorFromWorld(sensor_t sensor_id) const {
183-
if (!HasRigCalibration() || rig_calibration_->IsRefSensor(sensor_id)) {
181+
if (!HasRigCalib() || rig_calib_->IsRefSensor(sensor_id)) {
184182
return FrameFromWorld();
185183
}
186-
THROW_CHECK(rig_calibration_->HasSensor(sensor_id));
187-
return rig_calibration_->SensorFromRig(sensor_id) * FrameFromWorld();
184+
THROW_CHECK(rig_calib_->HasSensor(sensor_id));
185+
return rig_calib_->SensorFromRig(sensor_id) * FrameFromWorld();
188186
}
189187

190188
} // namespace colmap

‎src/colmap/scene/frame_test.cc‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -42,21 +42,21 @@ TEST(Frame, Default) {
4242
Frame frame;
4343
EXPECT_EQ(frame.FrameId(), kInvalidFrameId);
4444
EXPECT_FALSE(frame.HasPose());
45-
EXPECT_FALSE(frame.HasRigCalibration());
45+
EXPECT_FALSE(frame.HasRigCalib());
4646
}
4747

4848
TEST(Frame, SetUp) {
4949
sensor_t s1(SensorType::IMU, 0);
5050
sensor_t s2(SensorType::CAMERA, 0);
51-
std::shared_ptr<RigCalibration> calib = std::make_shared<RigCalibration>();
51+
std::shared_ptr<RigCalib> calib = std::make_shared<RigCalib>();
5252
calib->AddRefSensor(s1);
5353
calib->AddSensor(s2, TestRigid3d());
5454

5555
Frame frame;
5656
frame.AddData(data_t(s1, 2));
5757
frame.AddData(data_t(s2, 5));
58-
frame.SetRigCalibration(calib);
59-
EXPECT_TRUE(frame.HasRigCalibration());
58+
frame.SetRigCalib(calib);
59+
EXPECT_TRUE(frame.HasRigCalib());
6060
EXPECT_FALSE(frame.HasPose());
6161
}
6262

‎src/colmap/scene/image.h‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -241,9 +241,8 @@ void Image::SetFrame(std::shared_ptr<class Frame> frame) {
241241

242242
bool Image::HasNonTrivialFrame() const {
243243
THROW_CHECK(frame_) << "Invalid pointer to the corresponding frame";
244-
return frame_->HasRigCalibration() &&
245-
!frame_->RigCalibration()->IsRefSensor(
246-
sensor_t(SensorType::CAMERA, CameraId()));
244+
return frame_->HasRigCalib() && !frame_->RigCalib()->IsRefSensor(
245+
sensor_t(SensorType::CAMERA, CameraId()));
247246
}
248247

249248
Rigid3d Image::ComposeCamFromWorld() const {

‎src/colmap/sensor/rig_calib.cc‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -31,14 +31,14 @@
3131

3232
namespace colmap {
3333

34-
void RigCalibration::AddRefSensor(sensor_t ref_sensor_id) {
34+
void RigCalib::AddRefSensor(sensor_t ref_sensor_id) {
3535
THROW_CHECK(ref_sensor_id_ == kInvalidSensorId)
3636
<< "Reference sensor already set";
3737
ref_sensor_id_ = ref_sensor_id;
3838
}
3939

40-
void RigCalibration::AddSensor(sensor_t sensor_id,
41-
const std::optional<Rigid3d>& sensor_from_rig) {
40+
void RigCalib::AddSensor(sensor_t sensor_id,
41+
const std::optional<Rigid3d>& sensor_from_rig) {
4242
THROW_CHECK(NumSensors() >= 1)
4343
<< "The reference sensor needs to added first before any "
4444
"sensor being added.";

‎src/colmap/sensor/rig_calib.h‎

Lines changed: 18 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -76,9 +76,9 @@ constexpr sensor_t kInvalidSensorId =
7676
// the reference frame since it is metric.
7777
// 2) Not having a reference frame brings a 6 DoF Gauge for each rig, which is
7878
// not ideal particularly when it comes to covariance estimation.
79-
class RigCalibration {
79+
class RigCalib {
8080
public:
81-
RigCalibration() = default;
81+
RigCalib() = default;
8282

8383
// Access the unique identifier of the rig
8484
inline rig_t RigId() const;
@@ -130,28 +130,28 @@ class RigCalibration {
130130
// Implementation
131131
////////////////////////////////////////////////////////////////////////////////
132132

133-
rig_t RigCalibration::RigId() const { return rig_id_; }
133+
rig_t RigCalib::RigId() const { return rig_id_; }
134134

135-
void RigCalibration::SetRigId(rig_t rig_id) { rig_id_ = rig_id; }
135+
void RigCalib::SetRigId(rig_t rig_id) { rig_id_ = rig_id; }
136136

137-
bool RigCalibration::HasSensor(sensor_t sensor_id) const {
137+
bool RigCalib::HasSensor(sensor_t sensor_id) const {
138138
return sensor_id == ref_sensor_id_ ||
139139
sensors_from_rig_.find(sensor_id) != sensors_from_rig_.end();
140140
}
141141

142-
size_t RigCalibration::NumSensors() const {
142+
size_t RigCalib::NumSensors() const {
143143
size_t n_sensors = sensors_from_rig_.size();
144144
if (ref_sensor_id_ != kInvalidSensorId) n_sensors += 1;
145145
return n_sensors;
146146
}
147147

148-
sensor_t RigCalibration::RefSensorId() const { return ref_sensor_id_; }
148+
sensor_t RigCalib::RefSensorId() const { return ref_sensor_id_; }
149149

150-
bool RigCalibration::IsRefSensor(sensor_t sensor_id) const {
150+
bool RigCalib::IsRefSensor(sensor_t sensor_id) const {
151151
return sensor_id == ref_sensor_id_;
152152
}
153153

154-
Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) {
154+
Rigid3d& RigCalib::SensorFromRig(sensor_t sensor_id) {
155155
THROW_CHECK(!IsRefSensor(sensor_id))
156156
<< "No reference is available for the SensorFromRig transformation of "
157157
"the reference sensor, which is identity";
@@ -165,7 +165,7 @@ Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) {
165165
return *sensors_from_rig_.at(sensor_id);
166166
}
167167

168-
const Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) const {
168+
const Rigid3d& RigCalib::SensorFromRig(sensor_t sensor_id) const {
169169
THROW_CHECK(!IsRefSensor(sensor_id))
170170
<< "No reference is available for the SensorFromRig transformation of "
171171
"the reference sensor, which is identity";
@@ -179,7 +179,7 @@ const Rigid3d& RigCalibration::SensorFromRig(sensor_t sensor_id) const {
179179
return *sensors_from_rig_.at(sensor_id);
180180
}
181181

182-
std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(sensor_t sensor_id) {
182+
std::optional<Rigid3d>& RigCalib::MaybeSensorFromRig(sensor_t sensor_id) {
183183
THROW_CHECK(!IsRefSensor(sensor_id))
184184
<< "No reference is available for the SensorFromRig transformation of "
185185
"the reference sensor, which is identity";
@@ -191,7 +191,7 @@ std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(sensor_t sensor_id) {
191191
return sensors_from_rig_.at(sensor_id);
192192
}
193193

194-
const std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(
194+
const std::optional<Rigid3d>& RigCalib::MaybeSensorFromRig(
195195
sensor_t sensor_id) const {
196196
THROW_CHECK(!IsRefSensor(sensor_id))
197197
<< "No reference is available for the SensorFromRig transformation of "
@@ -204,8 +204,8 @@ const std::optional<Rigid3d>& RigCalibration::MaybeSensorFromRig(
204204
return sensors_from_rig_.at(sensor_id);
205205
}
206206

207-
void RigCalibration::SetSensorFromRig(sensor_t sensor_id,
208-
const Rigid3d& sensor_from_rig) {
207+
void RigCalib::SetSensorFromRig(sensor_t sensor_id,
208+
const Rigid3d& sensor_from_rig) {
209209
THROW_CHECK(!IsRefSensor(sensor_id))
210210
<< "Cannot set the SensorFromRig transformation of the reference sensor, "
211211
"which is fixed to identity";
@@ -217,8 +217,8 @@ void RigCalibration::SetSensorFromRig(sensor_t sensor_id,
217217
sensors_from_rig_.at(sensor_id) = sensor_from_rig;
218218
}
219219

220-
void RigCalibration::SetSensorFromRig(
221-
sensor_t sensor_id, const std::optional<Rigid3d>& sensor_from_rig) {
220+
void RigCalib::SetSensorFromRig(sensor_t sensor_id,
221+
const std::optional<Rigid3d>& sensor_from_rig) {
222222
THROW_CHECK(!IsRefSensor(sensor_id))
223223
<< "Cannot set the SensorFromRig transformation of the reference sensor, "
224224
"which is fixed to identity";
@@ -230,7 +230,7 @@ void RigCalibration::SetSensorFromRig(
230230
sensors_from_rig_.at(sensor_id) = sensor_from_rig;
231231
}
232232

233-
bool RigCalibration::HasSensorFromRig(sensor_t sensor_id) const {
233+
bool RigCalib::HasSensorFromRig(sensor_t sensor_id) const {
234234
if (IsRefSensor(sensor_id))
235235
return true; // SensorFromRig for the reference sensor is always identity
236236
if (sensors_from_rig_.find(sensor_id) == sensors_from_rig_.end())
@@ -241,7 +241,7 @@ bool RigCalibration::HasSensorFromRig(sensor_t sensor_id) const {
241241
return sensors_from_rig_.at(sensor_id).has_value();
242242
}
243243

244-
void RigCalibration::ResetSensorFromRig(sensor_t sensor_id) {
244+
void RigCalib::ResetSensorFromRig(sensor_t sensor_id) {
245245
THROW_CHECK(!IsRefSensor(sensor_id))
246246
<< "Cannot reset the SensorFromRig transformation of the reference "
247247
"sensor, "

‎src/colmap/sensor/rig_calib_test.cc‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -38,15 +38,15 @@ Rigid3d TestRigid3d() {
3838
return Rigid3d(Eigen::Quaterniond::UnitRandom(), Eigen::Vector3d::Random());
3939
}
4040

41-
TEST(RigCalibration, Default) {
42-
RigCalibration calib;
41+
TEST(RigCalib, Default) {
42+
RigCalib calib;
4343
EXPECT_EQ(calib.RigId(), kInvalidRigId);
4444
EXPECT_EQ(calib.RefSensorId(), kInvalidSensorId);
4545
EXPECT_EQ(calib.NumSensors(), 0);
4646
}
4747

48-
TEST(RigCalibration, SetUp) {
49-
RigCalibration calib;
48+
TEST(RigCalib, SetUp) {
49+
RigCalib calib;
5050
calib.AddRefSensor(sensor_t(SensorType::IMU, 0));
5151
calib.AddSensor(sensor_t(SensorType::IMU, 1), TestRigid3d());
5252
calib.AddSensor(sensor_t(SensorType::CAMERA, 0), TestRigid3d());

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