From e42cac699df0a4a8c9d3625cfd0015a50937bf31 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 14 Jul 2017 22:47:50 +0200
Subject: [PATCH] Fix CORNER into CORNER 2D in class labels
---
src/feature_corner_2D.cpp | 2 +-
src/processor_tracker_feature_corner.cpp | 2 +-
src/processor_tracker_landmark_corner.cpp | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/feature_corner_2D.cpp b/src/feature_corner_2D.cpp
index e1414f463..59db17e3b 100644
--- a/src/feature_corner_2D.cpp
+++ b/src/feature_corner_2D.cpp
@@ -4,7 +4,7 @@
namespace wolf {
FeatureCorner2D::FeatureCorner2D(const Eigen::Vector4s & _measurement, const Eigen::Matrix4s & _meas_covariance) :
- FeatureBase("CORNER", _measurement, _meas_covariance)
+ FeatureBase("CORNER 2D", _measurement, _meas_covariance)
{
//std::cout << "feature: "<< _measurement.transpose() << std::endl;
}
diff --git a/src/processor_tracker_feature_corner.cpp b/src/processor_tracker_feature_corner.cpp
index 584023b4a..320b19ecb 100644
--- a/src/processor_tracker_feature_corner.cpp
+++ b/src/processor_tracker_feature_corner.cpp
@@ -96,7 +96,7 @@ ConstraintBasePtr ProcessorTrackerFeatureCorner::createConstraint(FeatureBasePtr
// Getting landmark ptr
LandmarkCorner2DPtr landmark_ptr = nullptr;
for (auto constraint : _feature_other_ptr->getConstraintList())
- if (constraint->getLandmarkOtherPtr() != nullptr && constraint->getLandmarkOtherPtr()->getType() == "CORNER")
+ if (constraint->getLandmarkOtherPtr() != nullptr && constraint->getLandmarkOtherPtr()->getType() == "CORNER 2D")
landmark_ptr = std::static_pointer_cast<LandmarkCorner2D>(constraint->getLandmarkOtherPtr());
if (landmark_ptr == nullptr)
diff --git a/src/processor_tracker_landmark_corner.cpp b/src/processor_tracker_landmark_corner.cpp
index 9c2d8fe94..384034534 100644
--- a/src/processor_tracker_landmark_corner.cpp
+++ b/src/processor_tracker_landmark_corner.cpp
@@ -128,7 +128,7 @@ unsigned int ProcessorTrackerLandmarkCorner::findLandmarks(const LandmarkBaseLis
for (auto landmark_it = _landmarks_corner_searched.begin(); landmark_it != _landmarks_corner_searched.end();
landmark_it++, jj++)
{
- if ((*landmark_it)->getType() == "CORNER")
+ if ((*landmark_it)->getType() == "CORNER 2D")
{
landmarks_map[jj] = landmark_it;
landmarks_index_map[jj] = 0;
--
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