From b3f6a1f004ca18505546514e1bef5a65b784c739 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Wed, 3 Jun 2020 22:41:51 +0200
Subject: [PATCH] hotfix: factors calling getFeature() in operator()
---
include/core/factor/factor_pose_2d.h | 2 +-
include/core/factor/factor_pose_3d.h | 2 +-
include/core/factor/factor_quaternion_absolute.h | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 6ccfb963d..a054c1167 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -59,7 +59,7 @@ inline bool FactorPose2d::operator ()(const T* const _p, const T* const _o, T* _
// residual
Eigen::Map<Eigen::Matrix<T,3,1>> res(_residuals);
- res = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+ res = getMeasurementSquareRootInformationUpper() * er;
////////////////////////////////////////////////////////
// print Jacobian. Uncomment this as you wish (remember to uncomment #include "ceres/jet.h" above):
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index e696f396b..0390ab640 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -62,7 +62,7 @@ inline bool FactorPose3d::operator ()(const T* const _p, const T* const _o, T* _
// residual
Eigen::Map<Eigen::Matrix<T, 6, 1>> res(_residuals);
- res = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+ res = getMeasurementSquareRootInformationUpper() * er;
return true;
}
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index b9b6a75c3..8cb37c392 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -80,7 +80,7 @@ inline bool FactorQuaternionAbsolute::operator ()(const T* const _o, T* _residua
// residual
Eigen::Map<Eigen::Matrix<T, 3, 1>> res(_residuals);
- res = getFeature()->getMeasurementSquareRootInformationUpper() * er;
+ res = getMeasurementSquareRootInformationUpper() * er;
return true;
}
--
GitLab