vector<Key> -> keyVector
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				|  | @ -61,7 +61,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> { | |||
| 
 | ||||
|  protected: | ||||
|   /// vector of keys (one for each observation) with potentially repeated keys
 | ||||
|   std::vector<Key> nonUniqueKeys_; | ||||
|   KeyVector nonUniqueKeys_; | ||||
| 
 | ||||
|   /// shared pointer to calibration object (one for each observation)
 | ||||
|   std::vector<boost::shared_ptr<CALIBRATION> > K_all_; | ||||
|  | @ -134,7 +134,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> { | |||
|    * @param Ks vector of (fixed) intrinsic calibration objects | ||||
|    * @param body_P_sensors vector of (fixed) extrinsic calibration objects | ||||
|    */ | ||||
|   void add(const MEASUREMENTS& measurements, const std::vector<Key>& poseKeys, | ||||
|   void add(const MEASUREMENTS& measurements, const KeyVector& poseKeys, | ||||
|            const std::vector<boost::shared_ptr<CALIBRATION>>& Ks, | ||||
|            const std::vector<Pose3> body_P_sensors = std::vector<Pose3>()) { | ||||
|     assert(poseKeys.size() == measurements.size()); | ||||
|  | @ -159,7 +159,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> { | |||
|   } | ||||
| 
 | ||||
|   /// return (for each observation) the (possibly non unique) keys involved in the measurements
 | ||||
|   const std::vector<Key> nonUniqueKeys() const { | ||||
|   const KeyVector nonUniqueKeys() const { | ||||
|     return nonUniqueKeys_; | ||||
|   } | ||||
| 
 | ||||
|  |  | |||
|  | @ -833,7 +833,7 @@ TEST( SmartProjectionFactorP, hessianComparedToProjFactors_measurementsFromSameP | |||
|   measurements_lmk1_redundant.push_back(measurements_lmk1.at(0));  // we readd the first measurement
 | ||||
| 
 | ||||
|   // create inputs
 | ||||
|   std::vector<Key> keys; | ||||
|   KeyVector keys; | ||||
|   keys.push_back(x1); | ||||
|   keys.push_back(x2); | ||||
|   keys.push_back(x3); | ||||
|  | @ -960,7 +960,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) { | |||
|   projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3); | ||||
| 
 | ||||
|   // create inputs
 | ||||
|   std::vector<Key> keys; | ||||
|   KeyVector keys; | ||||
|   keys.push_back(x1); | ||||
|   keys.push_back(x2); | ||||
|   keys.push_back(x3); | ||||
|  | @ -974,7 +974,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) { | |||
|   // make sure the redundancy in the keys does not create problems)
 | ||||
|   Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1; | ||||
|   measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
 | ||||
|   std::vector<Key> keys_redundant = keys; | ||||
|   KeyVector keys_redundant = keys; | ||||
|   keys_redundant.push_back(keys.at(0)); // we readd the first key
 | ||||
|   std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs_redundant = sharedKs; | ||||
|   sharedKs_redundant.push_back(sharedK);// we readd the first calibration
 | ||||
|  | @ -1096,7 +1096,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) { | |||
|   projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3, measurements_lmk3); | ||||
| 
 | ||||
|   // create inputs
 | ||||
|   std::vector<Key> keys; | ||||
|   KeyVector keys; | ||||
|   keys.push_back(x1); | ||||
|   keys.push_back(x2); | ||||
|   keys.push_back(x3); | ||||
|  |  | |||
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