12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update docstring

release/4.3a0
Akshay Krishnan 2022-06-18 11:55:55 -07:00
parent 5ec6127c0b
commit 6fae6f4231
1 changed files with 8 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
gtsam/sfm/TranslationRecovery.cpp
View File

@ -119,16 +119,18 @@ void TranslationRecovery::addPrior(
graph->emplace_shared<PriorFactor<Point3>>(edge->key1(), Point3(0, 0, 0), graph->emplace_shared<PriorFactor<Point3>>(edge->key1(), Point3(0, 0, 0),
priorNoiseModel); 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. // Add a scale prior only if no other between factors were added.
if (betweenTranslations.empty()) { if (betweenTranslations.empty()) {
graph->emplace_shared<PriorFactor<Point3>>( graph->emplace_shared<PriorFactor<Point3>>(
edge->key2(), scale * edge->measured().point3(), edge->noiseModel()); 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());
} }
} }