From 79983285835c6b2f21ee5f7bd62026aba76825e7 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Thu, 5 Oct 2023 09:59:04 -0400
Subject: [PATCH] use Pose3Pairs for Similarity3::Align

---
 gtsam/geometry/Similarity3.cpp | 2 +-
 gtsam/geometry/Similarity3.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index a9a369e44..cf2360b08 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -171,7 +171,7 @@ Similarity3 Similarity3::Align(const Point3Pairs &abPointPairs) {
   return internal::align(d_abPointPairs, aRb, centroids);
 }
 
-Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
+Similarity3 Similarity3::Align(const Pose3Pairs &abPosePairs) {
   const size_t n = abPosePairs.size();
   if (n < 2)
     throw std::runtime_error("input should have at least 2 pairs of poses");
diff --git a/gtsam/geometry/Similarity3.h b/gtsam/geometry/Similarity3.h
index 89b2e3e34..cd4af89bc 100644
--- a/gtsam/geometry/Similarity3.h
+++ b/gtsam/geometry/Similarity3.h
@@ -133,7 +133,7 @@ class GTSAM_EXPORT Similarity3 : public LieGroup<Similarity3, 7> {
    * computed using the algorithm described here:
    * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
    */
-  static Similarity3 Align(const std::vector<Pose3Pair>& abPosePairs);
+  static Similarity3 Align(const Pose3Pairs& abPosePairs);
 
   /// @}
   /// @name Lie Group