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added variable in loop

release/4.3a0
lcarlone 2021-11-06 19:43:45 -04:00
parent 710a64fed4
commit 7fa3b5cc96
1 changed files with 3 additions and 2 deletions
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5
gtsam/slam/SmartProjectionRigFactor.h
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@ -232,12 +232,13 @@ class SmartProjectionRigFactor : public SmartProjectionFactor<CAMERA> {
typename Base::Cameras cameras; typename Base::Cameras cameras;
cameras.reserve(nonUniqueKeys_.size()); // preallocate cameras.reserve(nonUniqueKeys_.size()); // preallocate
for (size_t i = 0; i < nonUniqueKeys_.size(); i++) { for (size_t i = 0; i < nonUniqueKeys_.size(); i++) {
const typename Base::Camera& camera_i = cameraRig_[cameraIds_[i]];
const Pose3 world_P_sensor_i = const Pose3 world_P_sensor_i =
values.at<Pose3>(nonUniqueKeys_[i]) // = world_P_body values.at<Pose3>(nonUniqueKeys_[i]) // = world_P_body
* cameraRig_[cameraIds_[i]].pose(); // = body_P_cam_i * camera_i.pose(); // = body_P_cam_i
cameras.emplace_back(world_P_sensor_i, cameras.emplace_back(world_P_sensor_i,
make_shared<typename CAMERA::CalibrationType>( make_shared<typename CAMERA::CalibrationType>(
cameraRig_[cameraIds_[i]].calibration())); camera_i.calibration()));
} }
return cameras; return cameras;
} }