From 6f3f12ccba69e3f4f76d3167abe07bd3c7849fd7 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Fri, 17 Jun 2022 09:56:12 +0200
Subject: [PATCH] We can't put a Quaterniond operator randomly here
---
src/processor/processor_tracker_landmark_object.cpp | 11 +----------
1 file changed, 1 insertion(+), 10 deletions(-)
diff --git a/src/processor/processor_tracker_landmark_object.cpp b/src/processor/processor_tracker_landmark_object.cpp
index ed34d34..8ce39e3 100644
--- a/src/processor/processor_tracker_landmark_object.cpp
+++ b/src/processor/processor_tracker_landmark_object.cpp
@@ -637,15 +637,6 @@ bool ProcessorTrackerLandmarkObject::matchingRANSAC(const std::vector<Eigen::Iso
return true;
}
-std::ostream &operator<<(std::ostream &flux, Quaterniond quat)
-{
- flux << quat.x() << " ";
- flux << quat.y() << " ";
- flux << quat.z() << " ";
- flux << quat.w() << " ";
-
- return flux;
-}
bool ProcessorTrackerLandmarkObject::isInliers(Eigen::Isometry3d cl_M_ol, Eigen::Isometry3d ci_M_oi, Eigen::Isometry3d cl_M_ci)
{
@@ -667,7 +658,7 @@ bool ProcessorTrackerLandmarkObject::isInliers(Eigen::Isometry3d cl_M_ol, Eigen:
quat_feat_identity.coeffs() = R2q(wRf_i).coeffs().transpose();
Vector3d pos_feat_identity = identity.translation();
- std::cout << "\n\n\n\n\n" << quat_feat << " " << quat_feat_identity << std::endl;
+ std::cout << "\n\n\n\n\n" << quat_feat.coeffs().transpose() << " " << quat_feat_identity.coeffs().transpose() << std::endl;
std::cout << pos_feat << "\n" << pos_feat_identity << "\n\n\n\n\n" << std::endl;
// Error between identity and ol_M_oi
--
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