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release/4.3a0
lcarlone 2021-11-06 18:34:34 -04:00
parent 459c8f93a5
commit 1e384686a1
2 changed files with 7 additions and 7 deletions
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6
gtsam/slam/SmartProjectionRigFactor.h
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@ -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

8
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
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@ -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