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solidified add and equal

release/4.3a0
lcarlone 2021-07-21 14:30:55 -04:00
parent 30f304e733
commit 306393a18c
2 changed files with 832 additions and 832 deletions
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8
gtsam_unstable/slam/SmartProjectionPoseFactorRollingShutter.h
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@ -99,8 +99,9 @@ class SmartProjectionPoseFactorRollingShutter : public SmartProjectionFactor<
void add(const Point2& measured, const Key& world_P_body_key1, void add(const Point2& measured, const Key& world_P_body_key1,
const Key& world_P_body_key2, const double& gamma, const Key& world_P_body_key2, const double& gamma,
const boost::shared_ptr<CALIBRATION>& K, const Pose3 body_P_sensor) { const boost::shared_ptr<CALIBRATION>& K, const Pose3 body_P_sensor) {
// store measurements in base class (note: we only store the first key there) // store measurements in base class (note: we manyally add keys below to make sure they are unique
Base::add(measured, world_P_body_key1); this->measured_.push_back(measured);
// but we also store the extrinsic calibration keys in the same order // but we also store the extrinsic calibration keys in the same order
world_P_body_key_pairs_.push_back( world_P_body_key_pairs_.push_back(
std::make_pair(world_P_body_key1, world_P_body_key2)); std::make_pair(world_P_body_key1, world_P_body_key2));
@ -113,6 +114,9 @@ class SmartProjectionPoseFactorRollingShutter : public SmartProjectionFactor<
== this->keys_.end()) == this->keys_.end())
this->keys_.push_back(world_P_body_key2); // add only unique keys this->keys_.push_back(world_P_body_key2); // add only unique keys
// store interpolation factors
gammas_.push_back(gamma);
// store fixed calibration // store fixed calibration
K_all_.push_back(K); K_all_.push_back(K);

1656
gtsam_unstable/slam/tests/testSmartProjectionPoseFactorRollingShutter.cpp
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