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compiles again with g2o.

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This commit is contained in:
Christian Forster
2014-05-27 20:38:23 +02:00
parent ab121434e4
commit b49d2f8573
3 changed files with 37 additions and 31 deletions
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svo/include/svo/bundle_adjustment.h
+8 -2
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@@ -22,16 +22,22 @@
namespace g2o {
class EdgeProjectXYZ2UV;
class SparseOptimizer;
class VertexSE3Expmap;
class VertexSBAPointXYZ;
}
typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3;
namespace svo {
typedef g2o::EdgeProjectXYZ2UV g2oEdgeSE3;
typedef g2o::VertexSE3Expmap g2oFrameSE3;
typedef g2o::VertexSBAPointXYZ g2oPoint;
class Frame;
class Point;
class Feature;
class Map;
/// Local, global and 2-view bundle adjustment with g2o.
/// Local, global and 2-view bundle adjustment with g2o
namespace ba {
/// Temporary container to hold the g2o edge with reference to frame and point.