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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
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14
gtsam/sfm/TranslationRecovery.cpp
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@ -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());
}
}