Commit 30784c6f authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Use derived state blocks

parent 0ef0e121
......@@ -20,15 +20,15 @@
//
//--------LICENSE_END--------
#include "vision/landmark/landmark_point_3d.h"
#include <core/state_block/state_block_derived.h>
namespace wolf {
LandmarkPoint3d::LandmarkPoint3d(Eigen::Vector3d _position, cv::Mat _2d_descriptor) :
LandmarkBase("LandmarkPoint3d", std::make_shared<StateBlock>(_position, false)),
LandmarkBase("LandmarkPoint3d", std::make_shared<StatePoint3d>(_position, false)),
descriptor_(_2d_descriptor)
{
//LandmarkPoint3d* landmark_ptr = (LandmarkPoint3d*)_p_ptr;
// position_ =
getStateBlock('P')->setTransformable();
// descriptor_ = _2d_descriptor;
}
......
......@@ -23,7 +23,7 @@
#include "vision/sensor/sensor_camera.h"
#include "vision/math/pinhole_tools.h"
#include "core/state_block/state_block.h"
#include "core/state_block/state_block_derived.h"
#include "core/state_block/state_quaternion.h"
namespace wolf
......@@ -31,9 +31,9 @@ namespace wolf
SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, const ParamsSensorCamera& _intrinsics) :
SensorBase("SensorCamera",
std::make_shared<StateBlock>(_extrinsics.head(3), true),
std::make_shared<StatePoint3d>(_extrinsics.head(3), true),
std::make_shared<StateQuaternion>(_extrinsics.tail(4), true),
std::make_shared<StateBlock>(_intrinsics.pinhole_model_raw, true),
std::make_shared<StateParams4>(_intrinsics.pinhole_model_raw, true),
1),
img_width_(_intrinsics.width), //
img_height_(_intrinsics.height), //
......
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