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Fix call w new API

release/4.3a0
Frank Dellaert 2024-10-28 11:59:29 -07:00
parent fba31d99f2
commit ced6d5721d
1 changed files with 4 additions and 4 deletions
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8
examples/ViewGraphExample.cpp
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@ -38,7 +38,7 @@ using namespace gtsam;
/* ************************************************************************* */ /* ************************************************************************* */
int main(int argc, char* argv[]) { int main(int argc, char* argv[]) {
// Define the camera calibration parameters // Define the camera calibration parameters
Cal3_S2 K(50.0, 50.0, 0.0, 50.0, 50.0); Cal3_S2 cal(50.0, 50.0, 0.0, 50.0, 50.0);
// Create the set of 8 ground-truth landmarks // Create the set of 8 ground-truth landmarks
vector<Point3> points = createPoints(); vector<Point3> points = createPoints();
@ -47,13 +47,13 @@ int main(int argc, char* argv[]) {
vector<Pose3> poses = posesOnCircle(4, 30); vector<Pose3> poses = posesOnCircle(4, 30);
// Calculate ground truth fundamental matrices, 1 and 2 poses apart // Calculate ground truth fundamental matrices, 1 and 2 poses apart
auto F1 = FundamentalMatrix(K, poses[0].between(poses[1]), K); auto F1 = FundamentalMatrix(cal.K(), poses[0].between(poses[1]), cal.K());
auto F2 = FundamentalMatrix(K, poses[0].between(poses[2]), K); auto F2 = FundamentalMatrix(cal.K(), poses[0].between(poses[2]), cal.K());
// Simulate measurements from each camera pose // Simulate measurements from each camera pose
std::array<std::array<Point2, 8>, 4> p; std::array<std::array<Point2, 8>, 4> p;
for (size_t i = 0; i < 4; ++i) { for (size_t i = 0; i < 4; ++i) {
PinholeCamera<Cal3_S2> camera(poses[i], K); PinholeCamera<Cal3_S2> camera(poses[i], cal);
for (size_t j = 0; j < 8; ++j) { for (size_t j = 0; j < 8; ++j) {
p[i][j] = camera.project(points[j]); p[i][j] = camera.project(points[j]);
} }