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vector<Key> -> keyVector

release/4.3a0
lcarlone 2021-11-06 22:25:12 -04:00
parent bd10fcb0ea
commit 02c7d86dfc
2 changed files with 7 additions and 7 deletions
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6
gtsam/slam/SmartProjectionFactorP.h
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@ -61,7 +61,7 @@ class SmartProjectionFactorP : public SmartProjectionFactor<CAMERA> {
protected: protected:
/// vector of keys (one for each observation) with potentially repeated keys /// 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) /// shared pointer to calibration object (one for each observation)
std::vector<boost::shared_ptr<CALIBRATION> > K_all_; 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 Ks vector of (fixed) intrinsic calibration objects
* @param body_P_sensors vector of (fixed) extrinsic 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<boost::shared_ptr<CALIBRATION>>& Ks,
const std::vector<Pose3> body_P_sensors = std::vector<Pose3>()) { const std::vector<Pose3> body_P_sensors = std::vector<Pose3>()) {
assert(poseKeys.size() == measurements.size()); 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 /// 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_; return nonUniqueKeys_;
} }

8
gtsam/slam/tests/testSmartProjectionFactorP.cpp
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@ -833,7 +833,7 @@ TEST( SmartProjectionFactorP, hessianComparedToProjFactors_measurementsFromSameP
measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement
// create inputs // create inputs
std::vector<Key> keys; KeyVector keys;
keys.push_back(x1); keys.push_back(x1);
keys.push_back(x2); keys.push_back(x2);
keys.push_back(x3); keys.push_back(x3);
@ -960,7 +960,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) {
projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3); projectToMultipleCameras(cam1, cam2, cam3, landmark3, measurements_lmk3);
// create inputs // create inputs
std::vector<Key> keys; KeyVector keys;
keys.push_back(x1); keys.push_back(x1);
keys.push_back(x2); keys.push_back(x2);
keys.push_back(x3); keys.push_back(x3);
@ -974,7 +974,7 @@ TEST( SmartProjectionFactorP, optimization_3poses_measurementsFromSamePose ) {
// make sure the redundancy in the keys does not create problems) // make sure the redundancy in the keys does not create problems)
Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1; Camera::MeasurementVector& measurements_lmk1_redundant = measurements_lmk1;
measurements_lmk1_redundant.push_back(measurements_lmk1.at(0)); // we readd the first measurement 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 keys_redundant.push_back(keys.at(0)); // we readd the first key
std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs_redundant = sharedKs; std::vector < boost::shared_ptr < Cal3_S2 >> sharedKs_redundant = sharedKs;
sharedKs_redundant.push_back(sharedK);// we readd the first calibration 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); projectToMultipleCameras<Camera>(cam1, cam2, cam3, landmark3, measurements_lmk3);
// create inputs // create inputs
std::vector<Key> keys; KeyVector keys;
keys.push_back(x1); keys.push_back(x1);
keys.push_back(x2); keys.push_back(x2);
keys.push_back(x3); keys.push_back(x3);