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

No more default argument

release/4.3a0
dellaert 2014-10-07 01:01:16 +02:00
parent 467c94a01a
commit 921b79f446
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
gtsam_unstable/slam/ProjectionFactorPPP.h
View File

@ -127,13 +127,13 @@ namespace gtsam {
if(H1 || H2 || H3) { if(H1 || H2 || H3) {
gtsam::Matrix H0, H02; gtsam::Matrix H0, H02;
PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), *K_); PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), *K_);
Point2 reprojectionError(camera.project(point, H1, H3) - measured_); Point2 reprojectionError(camera.project(point, H1, H3, boost::none) - measured_);
*H2 = *H1 * H02; *H2 = *H1 * H02;
*H1 = *H1 * H0; *H1 = *H1 * H0;
return reprojectionError.vector(); return reprojectionError.vector();
} else { } else {
PinholeCamera<CALIBRATION> camera(pose.compose(transform), *K_); PinholeCamera<CALIBRATION> camera(pose.compose(transform), *K_);
Point2 reprojectionError(camera.project(point, H1, H3) - measured_); Point2 reprojectionError(camera.project(point, H1, H3, boost::none) - measured_);
return reprojectionError.vector(); return reprojectionError.vector();
} }
} catch( CheiralityException& e) { } catch( CheiralityException& e) {