From 6fae6f42313552ca900b9d8af26b1f6698d889e8 Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Sat, 18 Jun 2022 11:55:55 -0700
Subject: [PATCH] update docstring

---
 gtsam/sfm/TranslationRecovery.cpp | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp
index 28c2b2e8a..c7ef2e526 100644
--- a/gtsam/sfm/TranslationRecovery.cpp
+++ b/gtsam/sfm/TranslationRecovery.cpp
@@ -119,16 +119,18 @@ void TranslationRecovery::addPrior(
   graph->emplace_shared<PriorFactor<Point3>>(edge->key1(), Point3(0, 0, 0),
                                              priorNoiseModel);
 
-  // Add between factors for optional relative translations.
-  for (auto edge : betweenTranslations) {
-    graph->emplace_shared<BetweenFactor<Point3>>(
-        edge.key1(), edge.key2(), edge.measured(), edge.noiseModel());
-  }
-
   // Add a scale prior only if no other between factors were added.
   if (betweenTranslations.empty()) {
     graph->emplace_shared<PriorFactor<Point3>>(
         edge->key2(), scale * edge->measured().point3(), edge->noiseModel());
+    return;
+  }
+
+  // Add between factors for optional relative translations.
+  for (auto prior_edge : betweenTranslations) {
+    graph->emplace_shared<BetweenFactor<Point3>>(
+        prior_edge.key1(), prior_edge.key2(), prior_edge.measured(),
+        prior_edge.noiseModel());
   }
 }