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Merge pull request #1419 from ShuangLiu1992/patch-1

release/4.3a0
Frank Dellaert 2023-01-27 17:23:11 -08:00 committed by GitHub
parent a41b4e02e5 4929827f70
commit 7bf72c391b
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 2 additions and 2 deletions
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2
gtsam/geometry/CameraSet.h
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@ -153,7 +153,7 @@ class CameraSet : public std::vector<CAMERA, Eigen::aligned_allocator<CAMERA>> {
* full matrices and vectors and pass it to the pointer
* version of the function
*/
template <class POINT, class... OptArgs>
template <class POINT, class... OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector reprojectionError(const POINT& point, const ZVector& measured,
OptArgs&... args) const {
// pass it to the pointer version of the function

2
gtsam/slam/SmartFactorBase.h
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@ -243,7 +243,7 @@ protected:
* to the matrices and vectors that will be used to store the results instead
* of pointers.
*/
template<class POINT, class ...OptArgs>
template<class POINT, class ...OptArgs, typename = std::enable_if_t<sizeof...(OptArgs)!=0>>
Vector unwhitenedError(
const Cameras& cameras, const POINT& point,
OptArgs&&... optArgs) const {