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linux fix

release/4.3a0
cbeall3 2014-05-30 13:34:24 -04:00
parent a7a209ce0c
commit ef430410b5
1 changed files with 3 additions and 3 deletions
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6
examples/StereoVOExample_large.cpp
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@ -54,14 +54,14 @@ int main(int argc, char** argv){
//read camera calibration info from file //read camera calibration info from file
// focal lengths fx, fy, skew s, principal point u0, v0, baseline b // focal lengths fx, fy, skew s, principal point u0, v0, baseline b
double fx, fy, s, u0, v0, b; double fx, fy, s, u0, v0, b;
ifstream calibration_file(calibration_loc); ifstream calibration_file(calibration_loc.c_str());
cout << "Reading calibration info" << endl; cout << "Reading calibration info" << endl;
calibration_file >> fx >> fy >> s >> u0 >> v0 >> b; calibration_file >> fx >> fy >> s >> u0 >> v0 >> b;
//create stereo camera calibration object //create stereo camera calibration object
const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b)); const Cal3_S2Stereo::shared_ptr K(new Cal3_S2Stereo(fx,fy,s,u0,v0,b));
ifstream pose_file(pose_loc); ifstream pose_file(pose_loc.c_str());
cout << "Reading camera poses" << endl; cout << "Reading camera poses" << endl;
int pose_id; int pose_id;
MatrixRowMajor m(4,4); MatrixRowMajor m(4,4);
@ -79,7 +79,7 @@ int main(int argc, char** argv){
// pixel coordinates uL, uR, v (same for left/right images due to rectification) // pixel coordinates uL, uR, v (same for left/right images due to rectification)
// landmark coordinates X, Y, Z in camera frame, resulting from triangulation // landmark coordinates X, Y, Z in camera frame, resulting from triangulation
double uL, uR, v, X, Y, Z; double uL, uR, v, X, Y, Z;
ifstream factor_file(factor_loc); ifstream factor_file(factor_loc.c_str());
cout << "Reading stereo factors" << endl; cout << "Reading stereo factors" << endl;
//read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation //read stereo measurement details from file and use to create and add GenericStereoFactor objects to the graph representation
while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) { while (factor_file >> x >> l >> uL >> uR >> v >> X >> Y >> Z) {