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Fix minor bugs

release/4.3a0
Varun Agrawal 2020-07-24 03:10:03 -05:00
parent f4c8e7580c
commit 05f50eae40
2 changed files with 3 additions and 3 deletions
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4
gtsam/slam/dataset.h
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@ -94,7 +94,7 @@ GTSAM_EXPORT boost::optional<IndexedPose> parseVertexPose(std::istream& is,
*/ */
GTSAM_EXPORT boost::optional<IndexedLandmark> parseVertexLandmark(std::istream& is, GTSAM_EXPORT boost::optional<IndexedLandmark> parseVertexLandmark(std::istream& is,
const std::string& tag) const std::string& tag);
/** /**
* Parse TORO/G2O edge "id1 id2 x y yaw" * Parse TORO/G2O edge "id1 id2 x y yaw"
@ -176,7 +176,7 @@ GTSAM_EXPORT BetweenFactorPose3s parse3DFactors(const std::string& filename,
GTSAM_EXPORT std::map<Key, Pose3> parse3DPoses(const std::string& filename); GTSAM_EXPORT std::map<Key, Pose3> parse3DPoses(const std::string& filename);
/// Parse landmarks in 3D g2o graph file into a map of Point3s. /// Parse landmarks in 3D g2o graph file into a map of Point3s.
GTSAM_EXPORT std::map<Key, Point3> parse3DLandmarks(const string& filename) GTSAM_EXPORT std::map<Key, Point3> parse3DLandmarks(const string& filename);
/// Load TORO 3D Graph /// Load TORO 3D Graph
GTSAM_EXPORT GraphAndValues load3D(const std::string& filename); GTSAM_EXPORT GraphAndValues load3D(const std::string& filename);

2
tests/testNonlinearISAM.cpp
View File

@ -288,7 +288,7 @@ TEST(testNonlinearISAM, loop_closures ) {
break; break;
// Check if vertex // Check if vertex
const auto indexedPose = parseVertex(is, tag); const auto indexedPose = parseVertexPose(is, tag);
if (indexedPose) { if (indexedPose) {
Key id = indexedPose->first; Key id = indexedPose->first;
initialEstimate.insert(Symbol('x', id), indexedPose->second); initialEstimate.insert(Symbol('x', id), indexedPose->second);