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examples folder

release/4.3a0
kartik arcot 2023-01-11 13:49:07 -08:00
parent 0873ad628e
commit 236c02eb52
3 changed files with 5 additions and 5 deletions
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2
examples/ISAM2Example_SmartFactor.cpp
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@ -105,7 +105,7 @@ int main(int argc, char* argv[]) {
Values currentEstimate = isam.calculateEstimate(); Values currentEstimate = isam.calculateEstimate();
currentEstimate.print("Current estimate: "); currentEstimate.print("Current estimate: ");
boost::optional<Point3> pointEstimate = smartFactor->point(currentEstimate); auto pointEstimate = smartFactor->point(currentEstimate);
if (pointEstimate) { if (pointEstimate) {
cout << *pointEstimate << endl; cout << *pointEstimate << endl;
} else { } else {

2
examples/SFMExample_SmartFactor.cpp
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@ -116,7 +116,7 @@ int main(int argc, char* argv[]) {
if (smart) { if (smart) {
// The output of point() is in boost::optional<Point3>, as sometimes // The output of point() is in boost::optional<Point3>, as sometimes
// the triangulation operation inside smart factor will encounter degeneracy. // the triangulation operation inside smart factor will encounter degeneracy.
boost::optional<Point3> point = smart->point(result); auto point = smart->point(result);
if (point) // ignore if boost::optional return nullptr if (point) // ignore if boost::optional return nullptr
landmark_result.insert(j, *point); landmark_result.insert(j, *point);
} }

6
examples/TriangulationLOSTExample.cpp
View File

@ -131,17 +131,17 @@ int main(int argc, char* argv[]) {
AddNoiseToMeasurements(measurements, measurementSigma); AddNoiseToMeasurements(measurements, measurementSigma);
auto lostStart = std::chrono::high_resolution_clock::now(); auto lostStart = std::chrono::high_resolution_clock::now();
boost::optional<Point3> estimateLOST = triangulatePoint3<Cal3_S2>( auto estimateLOST = triangulatePoint3<Cal3_S2>(
cameras, noisyMeasurements, rank_tol, false, measurementNoise, true); cameras, noisyMeasurements, rank_tol, false, measurementNoise, true);
durationLOST += std::chrono::high_resolution_clock::now() - lostStart; durationLOST += std::chrono::high_resolution_clock::now() - lostStart;
auto dltStart = std::chrono::high_resolution_clock::now(); auto dltStart = std::chrono::high_resolution_clock::now();
boost::optional<Point3> estimateDLT = triangulatePoint3<Cal3_S2>( auto estimateDLT = triangulatePoint3<Cal3_S2>(
cameras, noisyMeasurements, rank_tol, false, measurementNoise, false); cameras, noisyMeasurements, rank_tol, false, measurementNoise, false);
durationDLT += std::chrono::high_resolution_clock::now() - dltStart; durationDLT += std::chrono::high_resolution_clock::now() - dltStart;
auto dltOptStart = std::chrono::high_resolution_clock::now(); auto dltOptStart = std::chrono::high_resolution_clock::now();
boost::optional<Point3> estimateDLTOpt = triangulatePoint3<Cal3_S2>( auto estimateDLTOpt = triangulatePoint3<Cal3_S2>(
cameras, noisyMeasurements, rank_tol, true, measurementNoise, false); cameras, noisyMeasurements, rank_tol, true, measurementNoise, false);
durationDLTOpt += std::chrono::high_resolution_clock::now() - dltOptStart; durationDLTOpt += std::chrono::high_resolution_clock::now() - dltOptStart;