From 9cd5e8932aa805b9d34c3d7981bab3f68b21f7c0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Tue, 16 Jun 2020 11:35:00 +0200 Subject: [PATCH] Key string --> char --- include/vision/factor/factor_pixel_hp.h | 2 +- include/vision/factor/factor_trifocal.h | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h index 1980db7ad..f56bd8185 100644 --- a/include/vision/factor/factor_pixel_hp.h +++ b/include/vision/factor/factor_pixel_hp.h @@ -75,7 +75,7 @@ inline FactorPixelHp::FactorPixelHp(const FeatureBasePtr& _ftr_ptr, _ftr_ptr->getCapture()->getSensorP(), _ftr_ptr->getCapture()->getSensorO(), _landmark_ptr->getP()), - intrinsic_(_ftr_ptr->getCapture()->getSensor()->getIntrinsic()->getState()) //TODO: intrinsic + intrinsic_(_ftr_ptr->getCapture()->getSensor()->getIntrinsic()->getState()) { // std::cout << "FactorPixelHp::Constructor\n"; // obtain some intrinsics from provided sensor diff --git a/include/vision/factor/factor_trifocal.h b/include/vision/factor/factor_trifocal.h index c3c762aac..043cfdf1d 100644 --- a/include/vision/factor/factor_trifocal.h +++ b/include/vision/factor/factor_trifocal.h @@ -206,9 +206,9 @@ FactorTrifocal::FactorTrifocal(const FeatureBasePtr& _feature_1_ptr, Matrix<double,3,2> J_e_u3 = J_e_m3 * J_m_u; // Error covariances induced by each of the measurement covariance // canonical units - Matrix3d Q1 = J_e_u1 * _feature_1_ptr ->getMeasurementCovariance() * J_e_u1.transpose(); // FIXME: changed getFeaturePrev() by _feature_1_ptr - Matrix3d Q2 = J_e_u2 * _feature_2_ptr ->getMeasurementCovariance() * J_e_u2.transpose(); // FIXME: changed getFeatureOther() by _feature_2_ptr - Matrix3d Q3 = J_e_u3 * _feature_own_ptr ->getMeasurementCovariance() * J_e_u3.transpose(); // FIXME: changed getFeature() by _feature_own_ptr + Matrix3d Q1 = J_e_u1 * _feature_1_ptr ->getMeasurementCovariance() * J_e_u1.transpose(); + Matrix3d Q2 = J_e_u2 * _feature_2_ptr ->getMeasurementCovariance() * J_e_u2.transpose(); + Matrix3d Q3 = J_e_u3 * _feature_own_ptr ->getMeasurementCovariance() * J_e_u3.transpose(); // Total error covariance // canonical units Matrix3d Q = Q1 + Q2 + Q3; -- GitLab