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

change to pointer

release/4.3a0
Akshay Krishnan 2022-02-28 22:21:59 -08:00
parent 93519e4cca
commit 1a2eb9a101
2 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam/sfm/TranslationRecovery.cpp
View File

@ -91,7 +91,7 @@ void TranslationRecovery::addPrior(
edge->key2(), scale * edge->measured().point3(), edge->noiseModel()); edge->key2(), scale * edge->measured().point3(), edge->noiseModel());
} }
Values TranslationRecovery::initializeRandomly(std::mt19937 &rng) const { Values TranslationRecovery::initializeRandomly(std::mt19937 *rng) const {
uniform_real_distribution<double> randomVal(-1, 1); uniform_real_distribution<double> randomVal(-1, 1);
// Create a lambda expression that checks whether value exists and randomly // Create a lambda expression that checks whether value exists and randomly
// initializes if not. // initializes if not.
@ -121,7 +121,7 @@ Values TranslationRecovery::initializeRandomly(std::mt19937 &rng) const {
} }
Values TranslationRecovery::initializeRandomly() const { Values TranslationRecovery::initializeRandomly() const {
return initializeRandomly(kRandomNumberGenerator); return initializeRandomly(&kRandomNumberGenerator);
} }
Values TranslationRecovery::run(const double scale) const { Values TranslationRecovery::run(const double scale) const {

12
gtsam/sfm/TranslationRecovery.h
View File

@ -16,16 +16,16 @@
* @brief Recovering translations in an epipolar graph when rotations are given. * @brief Recovering translations in an epipolar graph when rotations are given.
*/ */
#include <map>
#include <set>
#include <utility>
#include <vector>
#include <gtsam/geometry/Unit3.h> #include <gtsam/geometry/Unit3.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/Values.h> #include <gtsam/nonlinear/Values.h>
#include <gtsam/sfm/BinaryMeasurement.h> #include <gtsam/sfm/BinaryMeasurement.h>
#include <map>
#include <set>
#include <utility>
#include <vector>
namespace gtsam { namespace gtsam {
// Set up an optimization problem for the unknown translations Ti in the world // Set up an optimization problem for the unknown translations Ti in the world
@ -103,7 +103,7 @@ class TranslationRecovery {
* @param rng random number generator * @param rng random number generator
* @return Values * @return Values
*/ */
Values initializeRandomly(std::mt19937 &rng) const; Values initializeRandomly(std::mt19937 *rng) const;
/** /**
* @brief Version of initializeRandomly with a fixed seed. * @brief Version of initializeRandomly with a fixed seed.