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fixes_to_compile_with_PoseLib_commit_0b70bf0 #21

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10 changes: 5 additions & 5 deletions examples/calibrated_absolute_pose_estimator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -117,14 +117,14 @@ int CalibratedAbsolutePoseEstimator::MinimalSolver(
X[i] = points3D_[sample[i]];
}

std::vector<pose_lib::CameraPose> poselib_poses;
int num_sols = pose_lib::p3p(x, X, &poselib_poses);
std::vector<poselib::CameraPose> poselib_poses;
int num_sols = poselib::p3p(x, X, &poselib_poses);
if (num_sols == 0) return 0;

for (const pose_lib::CameraPose& pose : poselib_poses) {
for (const poselib::CameraPose& pose : poselib_poses) {
CameraPose P;
P.topLeftCorner<3, 3>() = pose.R;
P.col(3) = -pose.R.transpose() * pose.t;
P.topLeftCorner<3, 3>() = pose.R();
P.col(3) = -pose.R().transpose() * pose.t;

const double kError = EvaluateModelOnPoint(P, sample[3]);
if (kError < squared_inlier_threshold_) {
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2 changes: 1 addition & 1 deletion examples/calibrated_absolute_pose_estimator.h
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Expand Up @@ -43,7 +43,7 @@
#include <Eigen/Core>
#include <Eigen/StdVector>

#include <PoseLib/p3p.h>
#include <PoseLib/solvers/p3p.h>
#include <PoseLib/types.h>

namespace ransac_lib {
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