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add prior on second camera

release/4.3a0
Chris Beall 2013-08-09 15:31:15 +00:00
parent 369e69b0d2
commit c03172aca3
1 changed files with 1 additions and 0 deletions
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gtsam_unstable/examples/SmartProjectionFactorExample_kitti.cpp
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@ -162,6 +162,7 @@ int main(int argc, char** argv) {
// Load values from VO camera poses output // Load values from VO camera poses output
gtsam::Values::shared_ptr loaded_values = loadPoseValues(input_dir+"camera_poses.txt"); 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(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"); //graph.print("thegraph");
// Read in kitti dataset // Read in kitti dataset