fixed two more vector issues
parent
6f509a34fd
commit
face1fe6fa
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@ -68,7 +68,7 @@ int main() {
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values.insert(2,Vector3(0,0,1));
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typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely;
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Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2));
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f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z.vector(), expression);
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f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z, expression);
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time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
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return 0;
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@ -62,11 +62,11 @@ int main(int argc, char* argv[]) {
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// readBAL converts to GTSAM format, so we need to convert back !
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Pose3 openGLpose = gtsam2openGL(camera.pose());
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Vector9 v9;
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v9 << Pose3::Logmap(openGLpose), camera.calibration().vector();
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v9 << Pose3::Logmap(openGLpose), camera.calibration();
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initial.insert(C(i++), v9);
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}
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for (const SfM_Track& track: db.tracks) {
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Vector3 v3 = track.p.vector();
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Vector3 v3 = track.p;
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initial.insert(P(j++), v3);
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}
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