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Add typedef CAMERA and restore a commented function of 'add' as a templated function.

release/4.3a0
Sungtae An 2014-11-25 00:20:23 -05:00
parent aebe40d19f
commit 05c98ccafb
1 changed files with 9 additions and 7 deletions
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16
gtsam/slam/SmartFactorBase.h
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@ -76,6 +76,7 @@ public:
typedef boost::shared_ptr<This> shared_ptr;
/// shorthand for a pinhole camera
typedef CAMERA Camera;
typedef std::vector<CAMERA> Cameras;
/**
@ -134,13 +135,14 @@ public:
* The noise is assumed to be the same for all measurements
*/
// ****************************************************************************************************
// void add(const SfM_Track& trackToAdd, const SharedNoiseModel& noise) {
// for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
// this->measured_.push_back(trackToAdd.measurements[k].second);
// this->keys_.push_back(trackToAdd.measurements[k].first);
// this->noise_.push_back(noise);
// }
// }
template<class SFM_TRACK>
void add(const SFM_TRACK& trackToAdd, const SharedNoiseModel& noise) {
for (size_t k = 0; k < trackToAdd.number_measurements(); k++) {
this->measured_.push_back(trackToAdd.measurements[k].second);
this->keys_.push_back(trackToAdd.measurements[k].first);
this->noise_.push_back(noise);
}
}
/** return the measurements */
const std::vector<Z>& measured() const {