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Commit c30cdfa9 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge branch '12-copying-measurement-and-sqrtinfo-in-factorbase-multi-threading' into 'devel'

Resolve "Copying measurement and sqrtinfo in FactorBase (multi-threading)"

Closes #12

See merge request !20
parents a993b40b b775d3a6
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3 merge requests!39release after RAL,!38After 2nd RAL submission,!20Resolve "Copying measurement and sqrtinfo in FactorBase (multi-threading)"
...@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3> ...@@ -21,8 +21,13 @@ class FactorFixBias: public FactorAutodiff<FactorFixBias,6,3,3>
public: public:
FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) : FactorFixBias(FeatureBasePtr _ftr_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias", FactorAutodiff<FactorFixBias, 6, 3, 3>("FactorFixBias",
nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getAccBias(), _ftr_ptr,
std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getGyroBias()) nullptr, nullptr, nullptr, nullptr,
nullptr,
_apply_loss_function,
_status,
std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getAccBias(),
std::static_pointer_cast<CaptureImu>(_ftr_ptr->getCapture())->getGyroBias())
{ {
// std::cout << "created FactorFixBias " << std::endl; // std::cout << "created FactorFixBias " << std::endl;
} }
......
...@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6> ...@@ -18,10 +18,10 @@ class FactorImu : public FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>
{ {
public: public:
FactorImu(const FeatureImuPtr& _ftr_ptr, FactorImu(const FeatureImuPtr& _ftr_ptr,
const CaptureImuPtr& _capture_origin_ptr, const CaptureImuPtr& _capture_origin_ptr,
const ProcessorBasePtr& _processor_ptr, const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function, bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE); FactorStatus _status = FAC_ACTIVE);
virtual ~FactorImu() = default; virtual ~FactorImu() = default;
...@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr, ...@@ -160,6 +160,7 @@ inline FactorImu::FactorImu(const FeatureImuPtr& _ftr_ptr,
FactorStatus _status) : FactorStatus _status) :
FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ... FactorAutodiff<FactorImu, 15, 3, 4, 3, 6, 3, 4, 3, 6>( // ...
"FactorImu", "FactorImu",
_ftr_ptr,
_cap_origin_ptr->getFrame(), _cap_origin_ptr->getFrame(),
_cap_origin_ptr, _cap_origin_ptr,
nullptr, nullptr,
......
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