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Fixed 'make timing' compile errors

release/4.3a0
dellaert 2018-11-08 17:17:13 -05:00
parent 355bb25339
commit 8f83791bb6
2 changed files with 3 additions and 3 deletions
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4
timing/timeIncremental.cpp
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@ -153,8 +153,8 @@ int main(int argc, char *argv[]) {
if(!isam2.getLinearizationPoint().exists(lmKey)) if(!isam2.getLinearizationPoint().exists(lmKey))
{ {
Pose pose = isam2.calculateEstimate<Pose>(poseKey); Pose pose = isam2.calculateEstimate<Pose>(poseKey);
Rot2 measuredBearing = measurement->measured().first; Rot2 measuredBearing = measurement->measured().bearing();
double measuredRange = measurement->measured().second; double measuredRange = measurement->measured().range();
newVariables.insert(lmKey, newVariables.insert(lmKey,
pose.transform_from(measuredBearing.rotate(Point2(measuredRange, 0.0)))); pose.transform_from(measuredBearing.rotate(Point2(measuredRange, 0.0))));
} }

2
timing/timeSchurFactors.cpp
View File

@ -40,7 +40,7 @@ void timeAll(size_t m, size_t N) {
static const int D = CAMERA::dimension; static const int D = CAMERA::dimension;
typedef Eigen::Matrix<double, 2, D> Matrix2D; typedef Eigen::Matrix<double, 2, D> Matrix2D;
KeyVector keys; KeyVector keys;
vector <Matrix2D> Fblocks; vector <Matrix2D, Eigen::aligned_allocator<Matrix2D>> Fblocks;
for (size_t i = 0; i < m; i++) { for (size_t i = 0; i < m; i++) {
keys.push_back(i); keys.push_back(i);
Fblocks.push_back((i + 1) * Matrix::Ones(2, D)); Fblocks.push_back((i + 1) * Matrix::Ones(2, D));