12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed templating problem with visualSLAM::ProjectionFactor

release/4.3a0
Alex Cunningham 2010-02-16 02:09:07 +00:00
parent 30893b33eb
commit 529fc5536b
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
cpp/visualSLAM.h
View File

@ -35,8 +35,8 @@ namespace gtsam { namespace visualSLAM {
* i.e. the main building block for visual SLAM. * i.e. the main building block for visual SLAM.
*/ */
template <class Cfg=Config, class LmK=PointKey, class PosK=PoseKey> template <class Cfg=Config, class LmK=PointKey, class PosK=PoseKey>
class GenericProjectionFactor : public NonlinearFactor2<Cfg, PosK, Pose3, LmK, Point3>, Testable<GenericProjectionFactor<Cfg> > { class GenericProjectionFactor : public NonlinearFactor2<Cfg, PosK, Pose3, LmK, Point3>, Testable<GenericProjectionFactor<Cfg, LmK, PosK> > {
private: protected:
// Keep a copy of measurement and calibration for I/O // Keep a copy of measurement and calibration for I/O
Point2 z_; Point2 z_;
@ -81,9 +81,9 @@ namespace gtsam { namespace visualSLAM {
/** /**
* equals * equals
*/ */
bool equals(const GenericProjectionFactor<Cfg>& p, double tol = 1e-9) const { bool equals(const GenericProjectionFactor<Cfg, LmK, PosK>& p, double tol = 1e-9) const {
return Base::equals(p, tol) && z_.equals(p.z_, tol) return Base::equals(p, tol) && this->z_.equals(p.z_, tol)
&& K_->equals(*p.K_, tol); && this->K_->equals(*p.K_, tol);
} }
// /** h(x) */ // /** h(x) */