fixed two more vector issues

release/4.3a0
Frank Dellaert 2016-06-08 17:30:51 -07:00
parent 6f509a34fd
commit face1fe6fa
2 changed files with 3 additions and 3 deletions

View File

@ -68,7 +68,7 @@ int main() {
values.insert(2,Vector3(0,0,1));
typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely;
Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2));
f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z.vector(), expression);
f2 = boost::make_shared<ExpressionFactor<Vector2> >(model, z, expression);
time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
return 0;

View File

@ -62,11 +62,11 @@ int main(int argc, char* argv[]) {
// readBAL converts to GTSAM format, so we need to convert back !
Pose3 openGLpose = gtsam2openGL(camera.pose());
Vector9 v9;
v9 << Pose3::Logmap(openGLpose), camera.calibration().vector();
v9 << Pose3::Logmap(openGLpose), camera.calibration();
initial.insert(C(i++), v9);
}
for (const SfM_Track& track: db.tracks) {
Vector3 v3 = track.p.vector();
Vector3 v3 = track.p;
initial.insert(P(j++), v3);
}