bugfix

cvg · Dec 12, 2024 · 8b6d5bc · 8b6d5bc
1 parent 2fafdf6
commit 8b6d5bc
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/limap/estimators/absolute_pose/joint_pose_estimator.cc b/limap/estimators/absolute_pose/joint_pose_estimator.cc
@@ -69,7 +69,7 @@ JointPoseEstimator::JointPoseEstimator(
   l2ds_ = &l2ds;
   p3ds_ = &p3ds;
   p2ds_ = &p2ds;
-  cam_ = Camera(cam.K());
+  cam_ = Camera("PINHOLE", cam.K());
   num_data_ = p3ds.size() + l3d_ids.size();
 
   if (loc_config_.cost_function == E3DLineLineDist2 ||

diff --git a/limap/optimize/hybrid_localization/hybrid_localization.h b/limap/optimize/hybrid_localization/hybrid_localization.h
@@ -46,7 +46,7 @@ class LineLocEngine {
     CHECK_EQ(l3ds.size(), l2ds.size());
     this->l3ds = l3ds;
     this->l2ds = l2ds;
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(R, T);
   }
   void Initialize(const std::vector<Line3d> &l3ds,
@@ -60,7 +60,7 @@ class LineLocEngine {
     K(1, 1) = kvec(1);
     K(0, 2) = kvec(2);
     K(1, 2) = kvec(3);
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(qvec, tvec);
   }
   void SetUp();
@@ -103,7 +103,7 @@ class JointLocEngine : public LineLocEngine {
     this->p2ds = p2ds;
     this->l3ds = l3ds;
     this->l2ds = l2ds;
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(R, T);
   }
   void Initialize(const std::vector<Line3d> &l3ds,
@@ -121,7 +121,7 @@ class JointLocEngine : public LineLocEngine {
     K(1, 1) = kvec(1);
     K(0, 2) = kvec(2);
     K(1, 2) = kvec(3);
-    this->cam = Camera(K);
+    this->cam = Camera("PINHOLE", K);
     this->campose = CameraPose(qvec, tvec);
   }
 };