Make it run on CC

3 files changed, 15 insertions, 12 deletions

diff --git a/src/state.cpp b/src/state.cpp
index cba336e..cbf0e15 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -215,7 +215,7 @@ State::partialUpdate( const MatrixXd &h, const MatrixXd &S,
 {
     MatrixXd K;
     // P^T is implied here since P is symmetric
-    K = S.fullPivLu().solve(h*P).transpose();
+    K = S.fullPivHouseholderQr().solve(h*P).transpose();
 
     // Compute the innovation or error
     Matrix<double,Dynamic,1> y;
@@ -1111,8 +1111,10 @@ State::featuresAsMeasurements ( vector<measurement_t> &yk, const Camera &cam,
         // Get ellipse
         Matrix<double,6,6> s;
         s = (*i)->S(Pxx(), Pxy((*i)->id()), Pyy((*i)->id()), body->ned(), q);
-        z.Ssrc << s(0,0), s(1,1);
-        z.Sref << s(4,4), s(5,5);
+	z.Ssrc[0] = s(0,0);
+	z.Ssrc[1] = s(1,1);
+	z.Sref[0] = s(4,4);
+	z.Sref[1] = s(5,5);
 
         yk.push_back(z);
     }
diff --git a/src/types.h b/src/types.h
index ff0a089..52f8228 100644
--- a/src/types.h
+++ b/src/types.h
@@ -24,7 +24,8 @@ typedef struct {
     int id;
     Vector3d source, reflection;
     double height;
-    UVector2d Ssrc, Sref;
+    double Ssrc[2];
+    double Sref[2];
     cv::Mat patch, refpatch;
     double xcorrmax;
 } measurement_t;
diff --git a/src/vision.cpp b/src/vision.cpp
index 27d4a7b..148f643 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -82,10 +82,10 @@ Vision::drawMeasurements ( const vector<measurement_t> &z, const Camera &cam,
 
         if (drawEllipse) {
             double xs, ys, xr, yr;
-            xs = 2*sqrt(i->Ssrc(0));
-            ys = 2*sqrt(i->Ssrc(1));
-            xr = 2*sqrt(i->Sref(0));
-            yr = 2*sqrt(i->Sref(1));
+            xs = 2*sqrt(i->Ssrc[0]);
+            ys = 2*sqrt(i->Ssrc[1]);
+            xr = 2*sqrt(i->Sref[0]);
+            yr = 2*sqrt(i->Sref[1]);
             
             // Create rotated rect for ellipse
             cv::RotatedRect rrs(ps, cv::Size(2*INLIER_THRESHOLD*xs, 2*INLIER_THRESHOLD*ys), 0.);
@@ -332,11 +332,11 @@ Vision::searchRegion ( const Camera &cam, const measurement_t &z, cv::RotatedRec
 
     double xs, ys;
     if (z.z_type==MONO) {
-        xs = 2*sqrt(z.Ssrc(0));
-        ys = 2*sqrt(z.Ssrc(1));
+        xs = 2*sqrt(z.Ssrc[0]);
+        ys = 2*sqrt(z.Ssrc[1]);
     } else {
-        xs = 2*sqrt(z.Sref(0));
-        ys = 2*sqrt(z.Sref(1));
+        xs = 2*sqrt(z.Sref[0]);
+        ys = 2*sqrt(z.Sref[1]);
     }
     
     // Create rotated rect for ellipse