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OptimizerG2O: fix landmarks vertex output types

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This commit is contained in:
TSC21
2018-12-28 14:08:05 +00:00
parent be75c7591c
commit 22d631d7aa
1 changed files with 4 additions and 4 deletions
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8
corelib/src/optimizer/OptimizerG2O.cpp
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@@ -1685,8 +1685,8 @@ bool OptimizerG2O::saveGraph(
} }
else if(!landmarksIgnored()) else if(!landmarksIgnored())
{ {
// VERTEX_XYZ id x y z // VERTEX_TRACKXYZ id x y z
fprintf(file, "VERTEX_XYZ %d %f %f %f\n", fprintf(file, "VERTEX_TRACKXYZ %d %f %f %f\n",
landmarkOffset-iter->first, landmarkOffset-iter->first,
iter->second.x(), iter->second.x(),
iter->second.y(), iter->second.y(),
@@ -1718,8 +1718,8 @@ bool OptimizerG2O::saveGraph(
} }
else else
{ {
// EDGE_SE3_XYZ observed_vertex_id observing_vertex_id param_offset x y z inf_11 inf_12 inf_13 inf_22 inf_23 inf_33 // EDGE_SE3_TRACKXYZ observed_vertex_id observing_vertex_id param_offset x y z inf_11 inf_12 inf_13 inf_22 inf_23 inf_33
fprintf(file, "EDGE_SE2_XY %d %d %d %f %f %f %f %f %f %f %f %f\n", fprintf(file, "EDGE_SE3_TRACKXYZ %d %d %d %f %f %f %f %f %f %f %f %f\n",
iter->second.from()<0?landmarkOffset-iter->second.from():iter->second.from(), iter->second.from()<0?landmarkOffset-iter->second.from():iter->second.from(),
iter->second.to()<0?landmarkOffset-iter->second.to():iter->second.to(), iter->second.to()<0?landmarkOffset-iter->second.to():iter->second.to(),
PARAM_OFFSET, PARAM_OFFSET,