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change a couple of variables to const

release/4.3a0
David Wisth 2022-01-03 16:41:21 +11:00
parent c86e42e8a1
commit 25c82c9878
1 changed files with 2 additions and 2 deletions
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4
gtsam_unstable/slam/ProjectionFactorPPPC.h
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@ -115,8 +115,8 @@ class GTSAM_UNSTABLE_EXPORT ProjectionFactorPPPC
try { try {
if(H1 || H2 || H3 || H4) { if(H1 || H2 || H3 || H4) {
Matrix H0, H02; Matrix H0, H02;
PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), K); const PinholeCamera<CALIBRATION> camera(pose.compose(transform, H0, H02), K);
Point2 reprojectionError(camera.project(point, H1, H3, H4) - measured_); const Point2 reprojectionError(camera.project(point, H1, H3, H4) - measured_);
*H2 = *H1 * H02; *H2 = *H1 * H02;
*H1 = *H1 * H0; *H1 = *H1 * H0;
return reprojectionError; return reprojectionError;