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Fixed template issue

release/4.3a0
dellaert 2015-02-25 00:57:51 +01:00
parent b3d0b1809c
commit 694e6e903c
2 changed files with 6 additions and 4 deletions
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5
gtsam/geometry/triangulation.h
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@ -75,8 +75,9 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
for (size_t i = 0; i < measurements.size(); i++) {
const Pose3& pose_i = poses[i];
PinholePose<CALIBRATION> camera_i(pose_i, sharedCal);
graph.push_back(TriangulationFactor<PinholeCamera<CALIBRATION> > //
typedef PinholePose<CALIBRATION> Camera;
Camera camera_i(pose_i, sharedCal);
graph.push_back(TriangulationFactor<Camera> //
(camera_i, measurements[i], unit2, landmarkKey));
}
return std::make_pair(graph, values);

5
gtsam/slam/tests/testTriangulationFactor.cpp
View File

@ -17,6 +17,7 @@
*/
#include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/Cal3Bundler.h>
#include <gtsam/base/numericalDerivative.h>
#include <CppUnitLite/TestHarness.h>
@ -35,7 +36,7 @@ static const boost::shared_ptr<Cal3_S2> sharedCal = //
// Looking along X-axis, 1 meter above ground plane (x-y)
static const Rot3 upright = Rot3::ypr(-M_PI / 2, 0., -M_PI / 2);
static const Pose3 pose1 = Pose3(upright, gtsam::Point3(0, 0, 1));
PinholeCamera<Cal3_S2> camera1(pose1, *sharedCal);
SimpleCamera camera1(pose1, *sharedCal);
// landmark ~5 meters infront of camera
static const Point3 landmark(5, 0.5, 1.2);
@ -48,7 +49,7 @@ TEST( triangulation, TriangulationFactor ) {
// Create the factor with a measurement that is 3 pixels off in x
Key pointKey(1);
SharedNoiseModel model;
typedef TriangulationFactor<> Factor;
typedef TriangulationFactor<SimpleCamera> Factor;
Factor factor(camera1, z1, model, pointKey);
// Use the factor to calculate the Jacobians