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Added support for latest g2o code (with c++11 interface)

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This commit is contained in:
matlabbe
2018-02-03 15:43:32 -05:00
parent 8ca3bca810
commit 90ed9cd15c
5 changed files with 130 additions and 26 deletions
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10
corelib/src/vertigo/g2o/edge_se3Switchable.cpp
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@@ -31,7 +31,7 @@ EdgeSE3Switchable::EdgeSE3Switchable() : g2o::BaseMultiEdge<6, Eigen::Isometry3d
// ================================================
bool EdgeSE3Switchable::read(std::istream& is)
{
g2o::Vector7d meas;
/* g2o::Vector7d meas;
for (int i=0; i<7; i++)
is >> meas[i];
// normalize the quaternion to recover numerical precision lost by storing as human readable text
@@ -44,18 +44,20 @@ bool EdgeSE3Switchable::read(std::istream& is)
if (i!=j)
information()(j,i) = information()(i,j);
}
return true;
return true;*/
return false;
}
// ================================================
bool EdgeSE3Switchable::write(std::ostream& os) const
{
g2o::Vector7d meas = g2o::internal::toVectorQT(measurement());
/* g2o::Vector7d meas = g2o::internal::toVectorQT(measurement());
for (int i=0; i<7; i++) os << meas[i] << " ";
for (int i = 0; i < 6; ++i)
for (int j = i; j < 6; ++j)
os << " " << information()(i, j);
return os.good();
return os.good();*/
return false;
}
// ================================================