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Replace the usage of Rot3::quaternion to Rot3::toQuaternion in 'timeShonanAveraging.cpp'

release/4.3a0
HViktorTsoi 2022-06-08 16:42:50 +08:00
parent f911ccf176
commit 27ddedfc63
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/timing/timeShonanAveraging.cpp
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@ -79,9 +79,9 @@ void saveG2oResult(string name, const Values& values, std::map<Key, Pose3> poses
myfile << "VERTEX_SE3:QUAT" << " ";
myfile << i << " ";
myfile << poses[i].x() << " " << poses[i].y() << " " << poses[i].z() << " ";
Vector quaternion = Rot3(R).quaternion();
myfile << quaternion(3) << " " << quaternion(2) << " " << quaternion(1)
<< " " << quaternion(0);
Quaternion quaternion = Rot3(R).toQuaternion();
myfile << quaternion.x() << " " << quaternion.y() << " " << quaternion.z()
<< " " << quaternion.w();
myfile << "\n";
}
myfile.close();