From 9a9d81ca18ec13800fb55a957b2b4659320f6870 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 9 Nov 2017 12:22:32 -0500 Subject: [PATCH] fixed build error with g2o: no member named 'linear' in 'g2o::SE2' --- corelib/src/OptimizerG2O.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/corelib/src/OptimizerG2O.cpp b/corelib/src/OptimizerG2O.cpp index 49055aa4..de11c404 100644 --- a/corelib/src/OptimizerG2O.cpp +++ b/corelib/src/OptimizerG2O.cpp @@ -503,7 +503,7 @@ std::map OptimizerG2O::optimize( { float roll, pitch, yaw; iter->second.getEulerAngles(roll, pitch, yaw); - Transform t(v->estimate().translation()[0], v->estimate().translation()[1], iter->second.z(), roll, pitch, v->estimate().linear().angle()); + Transform t(v->estimate().translation()[0], v->estimate().translation()[1], iter->second.z(), roll, pitch, v->estimate().rotation().angle()); tmpPoses.insert(std::pair(iter->first, t)); UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str()); } @@ -599,7 +599,7 @@ std::map OptimizerG2O::optimize( { float roll, pitch, yaw; iter->second.getEulerAngles(roll, pitch, yaw); - Transform t(v->estimate().translation()[0], v->estimate().translation()[1], iter->second.z(), roll, pitch, v->estimate().linear().angle()); + Transform t(v->estimate().translation()[0], v->estimate().translation()[1], iter->second.z(), roll, pitch, v->estimate().rotation().angle()); optimizedPoses.insert(std::pair(iter->first, t)); UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str()); }