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Replaced BOOSE_FOREACH with for in timing folder. Tested the changed code locally: successful.

release/4.3a0
Yao Chen 2016-05-20 21:28:45 -04:00
parent b68746beae
commit 20b02d3f4d
1 changed files with 3 additions and 4 deletions
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7
timing/timeSFMBALnavTcam.cpp
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@ -23,7 +23,6 @@
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/geometry/Point3.h>
#include <boost/foreach.hpp>
using namespace std;
using namespace gtsam;
@ -36,7 +35,7 @@ int main(int argc, char* argv[]) {
NonlinearFactorGraph graph;
for (size_t j = 0; j < db.number_tracks(); j++) {
Point3_ nav_point_(P(j));
BOOST_FOREACH (const SfM_Measurement& m, db.tracks[j].measurements) {
for (const SfM_Measurement& m: db.tracks[j].measurements) {
size_t i = m.first;
Point2 z = m.second;
Pose3_ navTcam_(C(i));
@ -50,12 +49,12 @@ int main(int argc, char* argv[]) {
Values initial;
size_t i = 0, j = 0;
BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
for (const SfM_Camera& camera: db.cameras) {
initial.insert(C(i), camera.pose());
initial.insert(K(i), camera.calibration());
i += 1;
}
BOOST_FOREACH (const SfM_Track& track, db.tracks)
for (const SfM_Track& track: db.tracks)
initial.insert(P(j++), track.p);
bool separateCalibration = true;