vector<Key> -> keyVector
parent
bd10fcb0ea
commit
02c7d86dfc
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@ -61,7 +61,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
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protected:
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/// vector of keys (one for each observation) with potentially repeated keys
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std::vector<Key> nonUniqueKeys_;
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KeyVector nonUniqueKeys_;
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/// shared pointer to calibration object (one for each observation)
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std::vector<boost::shared_ptr<CALIBRATION> > K_all_;
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@ -134,7 +134,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
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* @param Ks vector of (fixed) intrinsic calibration objects
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* @param body_P_sensors vector of (fixed) extrinsic calibration objects
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*/
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void add(const MEASUREMENTS& measurements, const std::vector<Key>& poseKeys,
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void add(const MEASUREMENTS& measurements, const KeyVector& poseKeys,
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const std::vector<boost::shared_ptr<CALIBRATION>>& Ks,
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const std::vector<Pose3> body_P_sensors = std::vector<Pose3>()) {
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assert(poseKeys.size() == measurements.size());
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@ -159,7 +159,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
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}
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/// return (for each observation) the (possibly non unique) keys involved in the measurements
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const std::vector<Key> nonUniqueKeys() const {
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const KeyVector nonUniqueKeys() const {
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return nonUniqueKeys_;
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}
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@ -833,7 +833,7 @@ TEST( SmartProjectionFactorP, hessianComparedToProjFactors_measurementsFromSameP
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measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
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// create inputs
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std::vector<Key> keys;
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KeyVector keys;
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keys.push_back(x1);
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keys.push_back(x2);
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keys.push_back(x3);
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@ -960,7 +960,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) {
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projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
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// create inputs
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std::vector<Key> keys;
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KeyVector keys;
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keys.push_back(x1);
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keys.push_back(x2);
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keys.push_back(x3);
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@ -974,7 +974,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) {
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// make sure the redundancy in the keys does not create problems)
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Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1;
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measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
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std::vector<Key> keys_redundant = keys;
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KeyVector keys_redundant = keys;
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keys_redundant.push_back(keys.at(0)); // we readd the first key
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std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs_redundant = sharedKs;
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sharedKs_redundant.push_back(sharedK);// we readd the first calibration
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@ -1096,7 +1096,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_sphericalCamera ) {
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projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3, measurements_lmk3);
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// create inputs
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std::vector<Key> keys;
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KeyVector keys;
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keys.push_back(x1);
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keys.push_back(x2);
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keys.push_back(x3);
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