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				|  | @ -57,7 +57,8 @@ int main(int argc, char* argv[]) { | |||
|     volatile double fpm = 0.5; // fraction of points matched
 | ||||
|     volatile size_t nm = fpm * n * np; // number of matches
 | ||||
| 
 | ||||
|     cout << format("\nTesting with %1% images, %2% points, %3% matches\n") % m % N % nm; | ||||
|     cout << format("\nTesting with %1% images, %2% points, %3% matches\n") | ||||
|             % (int)m % (int)N % (int)nm; | ||||
|     cout << "Generating " << nm << " matches" << endl; | ||||
|     boost::variate_generator<boost::mt19937, boost::uniform_int<size_t> > rn( | ||||
|         boost::mt19937(), boost::uniform_int<size_t>(0, N - 1)); | ||||
|  | @ -67,7 +68,7 @@ int main(int argc, char* argv[]) { | |||
|     for (size_t k = 0; k < nm; k++) | ||||
|       matches.push_back(Match(rn(), rn())); | ||||
| 
 | ||||
|     os << format("%1%,%2%,%3%,") % m % N % nm; | ||||
|     os << format("%1%,%2%,%3%,") % (int)m % (int)N % (int)nm; | ||||
| 
 | ||||
|     { | ||||
|       // DSFBase version
 | ||||
|  |  | |||
|  | @ -40,7 +40,7 @@ gtsam::Pose3 predictionErrorPose(const Pose3& p1, const Vector3& v1, const imuBi | |||
| } | ||||
| 
 | ||||
| gtsam::Vector3 predictionErrorVel(const Pose3& p1, const Vector3& v1, const imuBias::ConstantBias& b1, const Pose3& p2, const Vector3& v2, const InertialNavFactor_GlobalVelocity<Pose3, Vector3, imuBias::ConstantBias>& factor) { | ||||
|   return Vector3::Expmap(factor.evaluateError(p1, v1, b1, p2, v2).tail(3)); | ||||
|   return factor.evaluateError(p1, v1, b1, p2, v2).tail(3); | ||||
| } | ||||
| 
 | ||||
| #include <gtsam/linear/GaussianFactorGraph.h> | ||||
|  | @ -78,7 +78,7 @@ int main() { | |||
|   Point3 t2 = t1.compose( Point3(Vel1*measurement_dt) ); | ||||
|   Pose3 Pose2(R2, t2); | ||||
|   Vector dv = measurement_dt * (R1.matrix() * measurement_acc + world_g); | ||||
|   Vector3 Vel2 = Vel1.compose( dv ); | ||||
|   Vector3 Vel2 = Vel1 + dv; | ||||
|   imuBias::ConstantBias Bias1; | ||||
| 
 | ||||
|   Values values; | ||||
|  |  | |||
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