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Fixed build with cvsba and ceres

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matlabbe
2023-01-28 18:49:58 -08:00
parent 128d3b0d0a
commit e4edee33eb
3 changed files with 39 additions and 21 deletions
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2
corelib/include/rtabmap/core/optimizer/OptimizerCeres.h
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@@ -65,7 +65,7 @@ public:
int rootId,
const std::map<int, Transform> & poses,
const std::multimap<int, Link> & links,
const std::map<int, CameraModel> & models, // in case of stereo, Tx should be set
const std::map<int, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
std::map<int, cv::Point3f> & points3DMap,
const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
std::set<int> * outliers = 0);