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Fixed some compilation issues

release/4.3a0
dellaert 2015-02-24 21:55:37 +01:00
parent c4095d2ed9
commit b3d0b1809c
2 changed files with 2 additions and 1 deletions
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1
gtsam/geometry/tests/testTriangulation.cpp
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@ -17,6 +17,7 @@
*/ */
#include <gtsam/geometry/triangulation.h> #include <gtsam/geometry/triangulation.h>
#include <gtsam/geometry/SimpleCamera.h>
#include <gtsam/geometry/Cal3Bundler.h> #include <gtsam/geometry/Cal3Bundler.h>
#include <CppUnitLite/TestHarness.h> #include <CppUnitLite/TestHarness.h>

2
gtsam/geometry/triangulation.h
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@ -75,7 +75,7 @@ std::pair<NonlinearFactorGraph, Values> triangulationGraph(
static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6)); static SharedNoiseModel prior_model(noiseModel::Isotropic::Sigma(6, 1e-6));
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];
PinholeCamera<CALIBRATION> camera_i(pose_i, sharedCal); PinholePose<CALIBRATION> camera_i(pose_i, sharedCal);
graph.push_back(TriangulationFactor<PinholeCamera<CALIBRATION> > // graph.push_back(TriangulationFactor<PinholeCamera<CALIBRATION> > //
(camera_i, measurements[i], unit2, landmarkKey)); (camera_i, measurements[i], unit2, landmarkKey));
} }