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fixed equal

release/4.3a0
lcarlone 2021-10-02 21:12:46 -04:00
parent a5db090fb4
commit 4c10be9808
1 changed files with 7 additions and 7 deletions
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14
gtsam/slam/SmartProjectionRigFactor.h
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@ -58,13 +58,13 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
protected:
/// vector of keys (one for each observation) with potentially repeated keys
FastVector<Key> nonUniqueKeys_;
KeyVector nonUniqueKeys_;
/// cameras in the rig (fixed poses wrt body + fixed intrinsics)
typename Base::Cameras cameraRig_;
/// vector of camera Ids (one for each observation), identifying which camera took the measurement
FastVector<Key> cameraIds_;
KeyVector cameraIds_;
public:
typedef CAMERA Camera;
@ -125,7 +125,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
* @param poseKeys keys corresponding to the body poses of the cameras taking the measurements
* @param cameraIds IDs of the cameras in the rig taking each measurement (same order as measurements)
*/
void add(const Point2Vector& measurements, const FastVector<Key>& poseKeys,
void add(const Point2Vector& measurements, const KeyVector& poseKeys,
const FastVector<size_t>& cameraIds) {
assert(poseKeys.size() == measurements.size());
assert(poseKeys.size() == cameraIds.size());
@ -135,7 +135,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
}
/// return (for each observation) the (possibly non unique) keys involved in the measurements
const FastVector<Key> nonUniqueKeys() const {
const KeyVector nonUniqueKeys() const {
return nonUniqueKeys_;
}
@ -145,7 +145,7 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
}
/// return the calibration object
inline FastVector<size_t> cameraIds() const {
inline KeyVector cameraIds() const {
return cameraIds_;
}
@ -171,8 +171,8 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
const This *e = dynamic_cast<const This*>(&p);
return e && Base::equals(p, tol)
&& nonUniqueKeys_ == e->nonUniqueKeys()
&& cameraRig_.equals(e->cameraRig());
// && cameraIds_ == e->cameraIds();
&& cameraRig_.equals(e->cameraRig())
&& std::equal(cameraIds_.begin(), cameraIds_.end(), e->cameraIds().begin());
}
/**