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cleanup

release/4.3a0
Frank Dellaert 2015-07-05 11:19:19 -07:00
parent 14347f0d1c
commit b6adeec6ac
2 changed files with 4 additions and 3 deletions
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2
timing/timeSFMBAL.cpp
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@ -11,7 +11,7 @@
/** /**
* @file timeSFMBAL.cpp * @file timeSFMBAL.cpp
* @brief time structure from motion with BAL file, conventional GeneralSFMFactor * @brief time SFM with BAL file, conventional GeneralSFMFactor
* @author Frank Dellaert * @author Frank Dellaert
* @date June 6, 2015 * @date June 6, 2015
*/ */

5
timing/timeSFMBALautodiff.cpp
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@ -11,7 +11,7 @@
/** /**
* @file timeSFMBALautodiff.cpp * @file timeSFMBALautodiff.cpp
* @brief time structure from motion with BAL file, Ceres autodiff version * @brief time SFM with BAL file, Ceres autodiff version
* @author Frank Dellaert * @author Frank Dellaert
* @date July 5, 2015 * @date July 5, 2015
*/ */
@ -62,7 +62,8 @@ int main(int argc, char* argv[]) {
BOOST_FOREACH (const SfM_Camera& camera, db.cameras) { BOOST_FOREACH (const SfM_Camera& camera, db.cameras) {
// readBAL converts to GTSAM format, so we need to convert back ! // readBAL converts to GTSAM format, so we need to convert back !
Pose3 openGLpose = gtsam2openGL(camera.pose()); Pose3 openGLpose = gtsam2openGL(camera.pose());
Vector9 v9; v9 << Pose3::Logmap(openGLpose), camera.calibration().vector(); Vector9 v9;
v9 << Pose3::Logmap(openGLpose), camera.calibration().vector();
initial.insert(C(i++), v9); initial.insert(C(i++), v9);
} }
BOOST_FOREACH (const SfM_Track& track, db.tracks) { BOOST_FOREACH (const SfM_Track& track, db.tracks) {