From e0ee4d29ae70b99a99ab7da3b0d3b125afe46ee9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 5 Aug 2017 17:06:27 +0200
Subject: [PATCH] Fix some processor pointers in Constraint constructors
---
src/examples/test_constraint_AHP.cpp | 4 ++--
src/examples/test_simple_AHP.cpp | 10 +++++-----
src/processor_image_feature.h | 2 +-
src/processor_image_landmark.cpp | 2 +-
4 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/examples/test_constraint_AHP.cpp b/src/examples/test_constraint_AHP.cpp
index dc2d89fb9..059212083 100644
--- a/src/examples/test_constraint_AHP.cpp
+++ b/src/examples/test_constraint_AHP.cpp
@@ -43,7 +43,7 @@ int main()
// PROCESSOR
// one-liner API
- wolf_problem_ptr_->installProcessor("IMAGE LANDMARK", "ORB", "PinHole", wolf_root + "/src/examples/processor_image_ORB.yaml");
+ ProcessorBasePtr processor_ptr = wolf_problem_ptr_->installProcessor("IMAGE LANDMARK", "ORB", "PinHole", wolf_root + "/src/examples/processor_image_ORB.yaml");
// create the current frame
@@ -118,7 +118,7 @@ int main()
// Create the constraint
- ConstraintAHPPtr constraint_ptr = std::make_shared<ConstraintAHP>(feat_point_image_ptr, std::static_pointer_cast<LandmarkAHP>(landmark));
+ ConstraintAHPPtr constraint_ptr = std::make_shared<ConstraintAHP>(processor_ptr, feat_point_image_ptr, std::static_pointer_cast<LandmarkAHP>(landmark));
feat_point_image_ptr->addConstraint(constraint_ptr);
std::cout << "Constraint AHP created" << std::endl;
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 78ab782ba..85e53a2a5 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -159,11 +159,11 @@ int main(int argc, char** argv)
std::cout << "Landmark 1: " << lmk_1->point().transpose() << std::endl;
// Constraints------------------
- ConstraintAHPPtr ctr_0 = ConstraintAHP::create(feat_0, lmk_1 );
+ ConstraintAHPPtr ctr_0 = ConstraintAHP::create(nullptr, feat_0, lmk_1 );
feat_0->addConstraint(ctr_0);
- ConstraintAHPPtr ctr_1 = ConstraintAHP::create(feat_1, lmk_1 );
+ ConstraintAHPPtr ctr_1 = ConstraintAHP::create(nullptr, feat_1, lmk_1 );
feat_1->addConstraint(ctr_1);
- ConstraintAHPPtr ctr_2 = ConstraintAHP::create(feat_2, lmk_1 );
+ ConstraintAHPPtr ctr_2 = ConstraintAHP::create(nullptr, feat_2, lmk_1 );
feat_2->addConstraint(ctr_2);
// Projections----------------------------
@@ -210,9 +210,9 @@ int main(int argc, char** argv)
std::cout << "Landmark 2: " << lmk_2->point().transpose() << std::endl;
// New constraints from kf3 and kf4
- ConstraintAHPPtr ctr_3 = ConstraintAHP::create(feat_3, lmk_2 );
+ ConstraintAHPPtr ctr_3 = ConstraintAHP::create(nullptr, feat_3, lmk_2 );
feat_3->addConstraint(ctr_3);
- ConstraintAHPPtr ctr_4 = ConstraintAHP::create(feat_4, lmk_2 );
+ ConstraintAHPPtr ctr_4 = ConstraintAHP::create(nullptr, feat_4, lmk_2 );
feat_4->addConstraint(ctr_4);
Eigen::Vector2s pix_3 = ctr_3->expectation();
diff --git a/src/processor_image_feature.h b/src/processor_image_feature.h
index a8f1a1c4b..1ee0a133c 100644
--- a/src/processor_image_feature.h
+++ b/src/processor_image_feature.h
@@ -185,7 +185,7 @@ inline bool ProcessorImageFeature::voteForKeyFrame()
inline ConstraintBasePtr ProcessorImageFeature::createConstraint(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr)
{
- ConstraintEpipolarPtr const_epipolar_ptr = std::make_shared<ConstraintEpipolar>(_feature_ptr, _feature_other_ptr);
+ ConstraintEpipolarPtr const_epipolar_ptr = std::make_shared<ConstraintEpipolar>(shared_from_this(), _feature_ptr, _feature_other_ptr);
// _feature_ptr->addConstraint(const_epipolar_ptr);
// _feature_other_ptr->addConstrainedBy(const_epipolar_ptr);
return const_epipolar_ptr;
diff --git a/src/processor_image_landmark.cpp b/src/processor_image_landmark.cpp
index 0c060b034..7b94932e2 100644
--- a/src/processor_image_landmark.cpp
+++ b/src/processor_image_landmark.cpp
@@ -292,7 +292,7 @@ ConstraintBasePtr ProcessorImageLandmark::createConstraint(FeatureBasePtr _featu
LandmarkAHPPtr landmark_ahp = std::static_pointer_cast<LandmarkAHP>(_landmark_ptr);
- ConstraintAHPPtr constraint_ptr = ConstraintAHP::create(_feature_ptr, landmark_ahp, true);
+ ConstraintAHPPtr constraint_ptr = ConstraintAHP::create(shared_from_this(), _feature_ptr, landmark_ahp, true);
return constraint_ptr;
}
--
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