From a132a36ff2d5a90aeb7ffe1ec7e1109ed4e4570e Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Sat, 28 Jan 2023 12:57:47 -0800
Subject: [PATCH] Avoid warning

---
 gtsam/slam/InitializePose3.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/gtsam/slam/InitializePose3.cpp b/gtsam/slam/InitializePose3.cpp
index e8ec9181c..3e2ad7ebe 100644
--- a/gtsam/slam/InitializePose3.cpp
+++ b/gtsam/slam/InitializePose3.cpp
@@ -206,11 +206,10 @@ Values InitializePose3::computeOrientationsGradient(
   // Return correct rotations
   const Rot3& Rref = inverseRot.at(initialize::kAnchorKey); // This will be set to the identity as so far we included no prior
   Values estimateRot;
-    for (const auto key_R : inverseRot) {
+    for (const auto& key_R : inverseRot) {
     const Key& key = key_R.first;
-    const Rot3& Ri = key_R.second;
     if (key != initialize::kAnchorKey) {
-      const Rot3& R = inverseRot.at(key);
+      const Rot3& R = key_R.second;
       if(setRefFrame)
         estimateRot.insert(key, Rref.compose(R.inverse()));
       else