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use KeyVector to allow proper wrapping with TBB

release/4.3a0
Varun Agrawal 2020-11-16 12:22:09 -05:00
parent c5daeb5fdd
commit ac089ce6a3
2 changed files with 4 additions and 4 deletions
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6
gtsam/sfm/MFAS.cpp
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@ -121,8 +121,8 @@ MFAS::MFAS(const TranslationEdges& relativeTranslations,
} }
} }
vector<Key> MFAS::computeOrdering() const { KeyVector MFAS::computeOrdering() const {
vector<Key> ordering; // Nodes in MFAS order (result). KeyVector ordering; // Nodes in MFAS order (result).
// A graph is an unordered map from keys to nodes. Each node contains a list // A graph is an unordered map from keys to nodes. Each node contains a list
// of its adjacent nodes. Create the graph from the edgeWeights. // of its adjacent nodes. Create the graph from the edgeWeights.
@ -140,7 +140,7 @@ vector<Key> MFAS::computeOrdering() const {
map<MFAS::KeyPair, double> MFAS::computeOutlierWeights() const { map<MFAS::KeyPair, double> MFAS::computeOutlierWeights() const {
// Find the ordering. // Find the ordering.
vector<Key> ordering = computeOrdering(); KeyVector ordering = computeOrdering();
// Create a map from the node key to its position in the ordering. This makes // Create a map from the node key to its position in the ordering. This makes
// it easier to lookup positions of different nodes. // it easier to lookup positions of different nodes.

2
gtsam/sfm/MFAS.h
View File

@ -84,7 +84,7 @@ class MFAS {
* @brief Computes the 1D MFAS ordering of nodes in the graph * @brief Computes the 1D MFAS ordering of nodes in the graph
* @return orderedNodes: vector of nodes in the obtained order * @return orderedNodes: vector of nodes in the obtained order
*/ */
std::vector<Key> computeOrdering() const; KeyVector computeOrdering() const;
/** /**
* @brief Computes the outlier weights of the graph. We define the outlier * @brief Computes the outlier weights of the graph. We define the outlier