12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Back to old calibration

release/4.3a0
Frank Dellaert 2013-10-18 04:31:14 +00:00
parent 48205d3217
commit 1400498b72
1 changed files with 6 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
gtsam_unstable/examples/SmartProjectionFactorExample_kitti_nonbatch.cpp
View File

@ -10,7 +10,7 @@
* -------------------------------------------------------------------------- */
/**
* @file SmartProjectionFactorExample_kitti.cpp
* @file SmartProjectionFactorExample_kitti_nonbatch.cpp
* @brief Example usage of SmartProjectionFactor using real dataset in a non-batch fashion
* @date August, 2013
* @author Zsolt Kira
@ -60,8 +60,8 @@ using symbol_shorthand::X;
using symbol_shorthand::L;
typedef PriorFactor<Pose3> Pose3Prior;
typedef SmartProjectionFactorsCreator<Pose3, Point3, Cal3Bundler> SmartFactorsCreator;
typedef GenericProjectionFactorsCreator<Pose3, Point3, Cal3Bundler> ProjectionFactorsCreator;
typedef SmartProjectionFactorsCreator<Pose3, Point3, Cal3_S2> SmartFactorsCreator;
typedef GenericProjectionFactorsCreator<Pose3, Point3, Cal3_S2> ProjectionFactorsCreator;
typedef FastMap<Key, int> OrderingMap;
bool debug = false;
@ -127,10 +127,9 @@ Values::shared_ptr loadPoseValues(const string& filename, list<Key> keys) {
}
// Load calibration info
Cal3_S2::shared_ptr loadCalibration(const string& filename) {
boost::shared_ptr<Cal3_S2> loadCalibration(const string& filename) {
string full_filename = filename;
ifstream fin;
fin.open(full_filename.c_str());
ifstream fin(full_filename.c_str());
// try loading from parent directory as backup
if(!fin) {
@ -140,10 +139,8 @@ Cal3_S2::shared_ptr loadCalibration(const string& filename) {
double fx, fy, s, u, v, b;
fin >> fx >> fy >> s >> u >> v >> b;
fin.close();
Cal3_S2::shared_ptr K(new Cal3_S2(fx, fy, s, u, v));
return K;
return boost::make_shared<Cal3_S2>(fx,fy, s, u, v);
}
// Write key values to file