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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
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2
timing/timeAdaptAutoDiff.cpp
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@ -68,7 +68,7 @@ int main() {
values.insert(2,Vector3(0,0,1)); values.insert(2,Vector3(0,0,1));
typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely; typedef AdaptAutoDiff<SnavelyProjection, 2, 9, 3> AdaptedSnavely;
Expression<Vector2> expression(AdaptedSnavely(), Expression<Vector9>(1), Expression<Vector3>(2)); 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); time("Point2_(AdaptedSnavely(), camera, point): ", f2, values);
return 0; return 0;

4
timing/timeSFMBALautodiff.cpp
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@ -62,11 +62,11 @@ int main(int argc, char* argv[]) {
// readBAL converts to GTSAM format, so we need to convert back ! // readBAL converts to GTSAM format, so we need to convert back !
Pose3 openGLpose = gtsam2openGL(camera.pose()); Pose3 openGLpose = gtsam2openGL(camera.pose());
Vector9 v9; Vector9 v9;
v9 << Pose3::Logmap(openGLpose), camera.calibration().vector(); v9 << Pose3::Logmap(openGLpose), camera.calibration();
initial.insert(C(i++), v9); initial.insert(C(i++), v9);
} }
for (const SfM_Track& track: db.tracks) { for (const SfM_Track& track: db.tracks) {
Vector3 v3 = track.p.vector(); Vector3 v3 = track.p;
initial.insert(P(j++), v3); initial.insert(P(j++), v3);
} }