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