i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 01:20:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed build error with g2o: no member named 'linear' in 'g2o::SE2'

Browse Source
This commit is contained in:
matlabbe
2017-11-09 12:22:32 -05:00
parent 71d9816f4b
commit 9a9d81ca18
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
corelib/src/OptimizerG2O.cpp
View File

@@ -503,7 +503,7 @@ std::map<int, Transform> OptimizerG2O::optimize(
{ {
float roll, pitch, yaw; float roll, pitch, yaw;
iter->second.getEulerAngles(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<int, Transform>(iter->first, t)); tmpPoses.insert(std::pair<int, Transform>(iter->first, t));
UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str()); UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
} }
@@ -599,7 +599,7 @@ std::map<int, Transform> OptimizerG2O::optimize(
{ {
float roll, pitch, yaw; float roll, pitch, yaw;
iter->second.getEulerAngles(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<int, Transform>(iter->first, t)); optimizedPoses.insert(std::pair<int, Transform>(iter->first, t));
UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str()); UASSERT_MSG(!t.isNull(), uFormat("Optimized pose %d is null!?!?", iter->first).c_str());
} }