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

polished empty calibration

release/4.3a0
lcarlone 2021-08-28 00:04:06 -04:00
parent 51b4b871df
commit 22f8610472
2 changed files with 1 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
gtsam/geometry/SphericalCamera.h
View File

@ -30,21 +30,13 @@
namespace gtsam { namespace gtsam {
class GTSAM_EXPORT EmptyCal { class GTSAM_EXPORT EmptyCal {
protected:
Matrix3 K_;
public: public:
EmptyCal(){}
///< shared pointer to calibration object
EmptyCal()
: K_(Matrix3::Identity()) {
}
/// Default destructor
virtual ~EmptyCal() = default; virtual ~EmptyCal() = default;
using shared_ptr = boost::shared_ptr<EmptyCal>; using shared_ptr = boost::shared_ptr<EmptyCal>;
void print(const std::string& s) const { void print(const std::string& s) const {
std::cout << "empty calibration: " << s << std::endl; std::cout << "empty calibration: " << s << std::endl;
} }
Matrix3 K() const {return K_;}
}; };
/** /**

1
gtsam/slam/tests/testSmartProjectionFactorP.cpp
View File

@ -1148,7 +1148,6 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
-0.000986635786, 0.0314107591, -0.999013364, -0.0313952598), -0.000986635786, 0.0314107591, -0.999013364, -0.0313952598),
Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3))); Point3(0.1, -0.1, 1.9)), values.at<Pose3>(x3)));
graph.print("graph\n");
DOUBLES_EQUAL(0.1584588987292, graph.error(values), 1e-9); DOUBLES_EQUAL(0.1584588987292, graph.error(values), 1e-9);
Values result; Values result;