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Merge remote-tracking branch 'bitbucket/develop' into feature/Vector3

release/4.3a0
Frank 2016-02-09 11:29:46 -08:00
parent 3394e85ef7 738cc66a8e
commit 30ceedce18
4 changed files with 9 additions and 8 deletions
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4
CMakeLists.txt
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@ -322,10 +322,6 @@ if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
endif()
if(GTSAM_ALLOW_DEPRECATED_SINCE_V4)
add_definitions(-DGTSAM_ALLOW_DEPRECATED_SINCE_V4)
endif()
###############################################################################
# Add components

3
gtsam/config.h.in
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@ -60,4 +60,5 @@
// Option for not throwing the CheiralityException for points that are behind a camera
#cmakedefine GTSAM_THROW_CHEIRALITY_EXCEPTION
// Make sure dependent projects that want it can see deprecated functions
#cmakedefine GTSAM_ALLOW_DEPRECATED_SINCE_V4

2
gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
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@ -75,7 +75,7 @@ int main() {
Rot3 R2(0.473618898, 0.119523052, 0.872582019,
0.609241153, 0.67099888, -0.422594037,
-0.636011287, 0.731761397, 0.244979388);
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
Point3 t2 = t1 + Point3(Vel1*measurement_dt);
Pose3 Pose2(R2, t2);
Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
Vector3 Vel2 = Vel1 + dv;

8
timing/timeSFMBAL.h
View File

@ -49,8 +49,12 @@ SfM_data preamble(int argc, char* argv[]) {
// Load BAL file
SfM_data db;
string defaultFilename = findExampleDataFile("dubrovnik-16-22106-pre");
bool success = readBAL(argc > 1 ? argv[argc - 1] : defaultFilename, db);
string filename;
if (argc > 1)
filename = argv[argc - 1];
else
filename = findExampleDataFile("dubrovnik-16-22106-pre");
bool success = readBAL(argv[argc - 1], db);
if (!success) throw runtime_error("Could not access file!");
return db;
}