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fixes2

release/4.3a0
akrishnan86 2020-09-12 14:28:47 -07:00
parent 0d41941cda
commit 539ebb032a
1 changed files with 4 additions and 4 deletions
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gtsam/sfm/MFAS.cpp
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@ -28,7 +28,7 @@ struct GraphNode {
unordered_set<Key> outNeighbors; // Nodes to which there is an outgoing edge unordered_set<Key> outNeighbors; // Nodes to which there is an outgoing edge
// Heuristic for the node that is to select nodes in MFAS. // Heuristic for the node that is to select nodes in MFAS.
double heuristic() { return (outWeightSum + 1) / (inWeightSum + 1); } double heuristic() const { return (outWeightSum + 1) / (inWeightSum + 1); }
}; };
// A graph is a map from key to GraphNode. This function returns the graph from // A graph is a map from key to GraphNode. This function returns the graph from
@ -42,8 +42,8 @@ unordered_map<Key, GraphNode> graphFromEdges(
// is the direction of positive weight. This means that the edges is from // is the direction of positive weight. This means that the edges is from
// edge.first -> edge.second if weight is positive and edge.second -> // edge.first -> edge.second if weight is positive and edge.second ->
// edge.first if weight is negative. // edge.first if weight is negative.
MFAS::KeyPair& edge = edgeWeight.first; const MFAS::KeyPair& edge = edgeWeight.first;
double& weight = edgeWeight.second; const double& weight = edgeWeight.second;
Key edgeSource = weight >= 0 ? edge.first : edge.second; Key edgeSource = weight >= 0 ? edge.first : edge.second;
Key edgeDest = weight >= 0 ? edge.second : edge.first; Key edgeDest = weight >= 0 ? edge.second : edge.first;
@ -140,7 +140,7 @@ vector<Key> MFAS::computeOrdering() const {
return ordering; return ordering;
} }
std::map<KeyPair, double> MFAS::computeOutlierWeights() const { map<MFAS::KeyPair, double> MFAS::computeOutlierWeights() const {
// Find the ordering. // Find the ordering.
vector<Key> ordering = computeOrdering(); vector<Key> ordering = computeOrdering();