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

temporary triangulation using only first camera

release/4.3a0
cbeall3 2014-06-09 16:29:32 -04:00
parent e376ad8cec
commit 711c3c0715
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
gtsam/slam/SmartStereoProjectionFactor.h
View File

@ -251,6 +251,11 @@ public:
//TODO: Chris will replace this with something else for stereo //TODO: Chris will replace this with something else for stereo
// point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_, // point_ = triangulatePoint3<CALIBRATION>(cameras, this->measured_,
// rankTolerance_, enableEPI_); // rankTolerance_, enableEPI_);
// FIXME: temporary: triangulation using only first camera
const StereoPoint2& z0 = this->measured_.at(0);
point_ = cameras[0].backproject(z0);
degenerate_ = false; degenerate_ = false;
cheiralityException_ = false; cheiralityException_ = false;