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

Avoid some warnings by copying from develop

release/4.3a0
Frank 2015-12-22 11:09:44 -08:00
parent 699ba32c9e
commit ef5031e33e
1 changed files with 10 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
gtsam_unstable/examples/SmartProjectionFactorExample.cpp
View File

@ -67,17 +67,17 @@ int main(int argc, char** argv){
cout << "Reading camera poses" << endl;
ifstream pose_file(pose_loc.c_str());
int i;
int pose_index;
MatrixRowMajor m(4,4);
//read camera pose parameters and use to make initial estimates of camera poses
while (pose_file >> i) {
while (pose_file >> pose_index) {
for (int i = 0; i < 16; i++)
pose_file >> m.data()[i];
initial_estimate.insert(i, Pose3(m));
initial_estimate.insert(pose_index, Pose3(m));
}
// landmark keys
size_t l;
size_t landmark_key;
// pixel coordinates uL, uR, v (same for left/right images due to rectification)
// landmark coordinates X, Y, Z in camera frame, resulting from triangulation
@ -90,14 +90,14 @@ int main(int argc, char** argv){
SmartFactor::shared_ptr factor(new SmartFactor(model, K));
size_t current_l = 3; // hardcoded landmark ID from first measurement
while (factor_file >> i >> l >> uL >> uR >> v >> X >> Y >> Z) {
while (factor_file >> pose_index >> landmark_key >> uL >> uR >> v >> X >> Y >> Z) {
if(current_l != l) {
if(current_l != landmark_key) {
graph.push_back(factor);
factor = SmartFactor::shared_ptr(new SmartFactor(model, K));
current_l = l;
current_l = landmark_key;
}
factor->add(Point2(uL,v), i);
factor->add(Point2(uL,v), pose_index);
}
Pose3 firstPose = initial_estimate.at<Pose3>(1);