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

fixed compile issue

release/4.3a0
lcarlone 2022-07-02 17:05:14 -04:00
parent f947b973cd
commit 79305c1a9d
1 changed files with 1 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
gtsam/geometry/triangulation.h
View File

@ -107,11 +107,10 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
const std::vector<Pose3>& poses, boost::shared_ptr<CALIBRATION> sharedCal,
const Point2Vector& measurements, Key landmarkKey,
const Point3& initialEstimate,
const SharedNoiseModel& model = unit2) {
const SharedNoiseModel& model = noiseModel::Unit::Create(2)) {
Values values;
values.insert(landmarkKey, initialEstimate); // Initial landmark value
NonlinearFactorGraph graph;
static SharedNoiseModel unit2(noiseModel::Unit::Create(2));
for (size_t i = 0; i < measurements.size(); i++) {
const Pose3& pose_i = poses[i];
typedef PinholePose<CALIBRATION> Camera;