From 1e384686a16d43fce3684223a1e02126cd053471 Mon Sep 17 00:00:00 2001
From: lcarlone <lcarlone@mit.edu>
Date: Sat, 6 Nov 2021 18:34:34 -0400
Subject: [PATCH] more const&

---
 gtsam/slam/SmartProjectionRigFactor.h                     | 6 +++---
 .../slam/SmartProjectionPoseFactorRollingShutter.h        | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/gtsam/slam/SmartProjectionRigFactor.h b/gtsam/slam/SmartProjectionRigFactor.h
index e8b59cfe4..d7e802658 100644
--- a/gtsam/slam/SmartProjectionRigFactor.h
+++ b/gtsam/slam/SmartProjectionRigFactor.h
@@ -175,13 +175,13 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
 
   /// return (for each observation) the (possibly non unique) keys involved in
   /// the measurements
-  const KeyVector nonUniqueKeys() const { return nonUniqueKeys_; }
+  const KeyVector& nonUniqueKeys() const { return nonUniqueKeys_; }
 
   /// return the calibration object
-  inline Cameras cameraRig() const { return cameraRig_; }
+  const Cameras& cameraRig() const { return cameraRig_; }
 
   /// return the calibration object
-  inline FastVector<size_t> cameraIds() const { return cameraIds_; }
+  const FastVector<size_t>& cameraIds() const { return cameraIds_; }
 
   /**
    * print
diff --git a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
index b8e048a34..d16cfa2da 100644
--- a/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
+++ b/gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
@@ -199,18 +199,18 @@ class SmartProjectionPoseFactorRollingShutter
 
   /// return (for each observation) the keys of the pair of poses from which we
   /// interpolate
-  const std::vector<std::pair<Key, Key>> world_P_body_key_pairs() const {
+  const std::vector<std::pair<Key, Key>>& world_P_body_key_pairs() const {
     return world_P_body_key_pairs_;
   }
 
   /// return the interpolation factors alphas
-  const std::vector<double> alphas() const { return alphas_; }
+  const std::vector<double>& alphas() const { return alphas_; }
 
   /// return the calibration object
-  inline Cameras cameraRig() const { return cameraRig_; }
+  const Cameras& cameraRig() const { return cameraRig_; }
 
   /// return the calibration object
-  inline FastVector<size_t> cameraIds() const { return cameraIds_; }
+  const FastVector<size_t>& cameraIds() const { return cameraIds_; }
 
   /**
    * print