add prior on second camera

2013-08-09 15:31:15 +00:00 · 2013-08-09 15:31:15 +00:00 · c03172aca3
parent 369e69b0d2
commit c03172aca3
1 changed files with 1 additions and 0 deletions
--- a/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
+++ b/gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
@ -162,6 +162,7 @@ int main(int argc, char** argv) {
  // Load values from VO camera poses output
  gtsam::Values::shared_ptr loaded_values = loadPoseValues(input_dir+"camera_poses.txt");
  graph.add(Pose3Prior(X(0),loaded_values->at<Pose3>(X(0)), prior_model));
+  graph.add(Pose3Prior(X(1),loaded_values->at<Pose3>(X(1)), prior_model));
  //graph.print("thegraph");

  // Read in kitti dataset