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Fixed remaining compile issues in "make timing"

release/4.3a0
dellaert 2014-11-14 02:29:45 +01:00
parent c40da17122
commit 502a7459f9
2 changed files with 6 additions and 4 deletions
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6
gtsam_unstable/timing/timeDSFvariants.cpp
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@ -57,7 +57,9 @@ int main(int argc, char* argv[]) {
volatile double fpm = 0.5; // fraction of points matched volatile double fpm = 0.5; // fraction of points matched
volatile size_t nm = fpm * n * np; // number of matches volatile size_t nm = fpm * n * np; // number of matches
cout << format("\nTesting with %1% images, %2% points, %3% matches\n") % m % N % nm; cout
<< format("\nTesting with %1% images, %2% points, %3% matches\n")
% (int)m % (int)N % (int)nm;
cout << "Generating " << nm << " matches" << endl; cout << "Generating " << nm << " matches" << endl;
boost::variate_generator<boost::mt19937, boost::uniform_int<size_t> > rn( boost::variate_generator<boost::mt19937, boost::uniform_int<size_t> > rn(
boost::mt19937(), boost::uniform_int<size_t>(0, N - 1)); boost::mt19937(), boost::uniform_int<size_t>(0, N - 1));
@ -67,7 +69,7 @@ int main(int argc, char* argv[]) {
for (size_t k = 0; k < nm; k++) for (size_t k = 0; k < nm; k++)
matches.push_back(Match(rn(), rn())); matches.push_back(Match(rn(), rn()));
os << format("%1%,%2%,%3%,") % m % N % nm; os << format("%1%,%2%,%3%,") % (int)m % (int)N % (int)nm;
{ {
// DSFBase version // DSFBase version

4
gtsam_unstable/timing/timeInertialNavFactor_GlobalVelocity.cpp
View File

@ -40,7 +40,7 @@ gtsam::Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1, const imuBi
} }
gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) { gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) {
return Vector3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).tail(3)); return factor.evaluateError(p1, v1, b1, p2, v2).tail(3);
} }
#include <gtsam/linear/GaussianFactorGraph.h> #include <gtsam/linear/GaussianFactorGraph.h>
@ -78,7 +78,7 @@ int main() {
Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) ); Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) );
Pose3 Pose2(R2, t2); Pose3 Pose2(R2, t2);
Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g); Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g);
Vector3 Vel2 = Vel1.compose( dv ); Vector3 Vel2 = Vel1 + dv;
imuBias::ConstantBias Bias1; imuBias::ConstantBias Bias1;
Values values; Values values;