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Fixed compile error in test and changed interface

release/4.3a0
Alex Cunningham 2013-08-08 17:53:05 +00:00
parent bbb585079b
commit 73d38710ad
1 changed files with 2 additions and 2 deletions
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gtsam/slam/tests/testGeneralSFMFactor_Cal3Bundler.cpp
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@ -20,7 +20,7 @@
#include <gtsam/slam/RangeFactor.h> #include <gtsam/slam/RangeFactor.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h> #include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/NonlinearEquality.h> #include <gtsam/nonlinear/NonlinearEquality.h>
#include <gtsam/nonlinear/Ordering.h> //#include <gtsam/nonlinear/Ordering.h>
#include <gtsam/nonlinear/Symbol.h> #include <gtsam/nonlinear/Symbol.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/linear/VectorValues.h> #include <gtsam/linear/VectorValues.h>
@ -369,7 +369,7 @@ TEST( GeneralSFMFactor_Cal3Bundler, optimize_varK_BA ) {
graph.addCameraConstraint(0, cameras[0]); graph.addCameraConstraint(0, cameras[0]);
// Constrain the scale of the problem with a soft range factor of 1m between the cameras // Constrain the scale of the problem with a soft range factor of 1m between the cameras
graph.add(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0))); graph.push_back(RangeFactor<GeneralCamera,GeneralCamera>(X(0), X(1), 2.0, noiseModel::Isotropic::Sigma(1, 10.0)));
const double reproj_error = 1e-5 ; const double reproj_error = 1e-5 ;