added intermediate camera variable for clarity
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				|  | @ -295,11 +295,12 @@ class SmartProjectionPoseFactorRollingShutter | |||
|       double interpolationFactor = alphas_[i]; | ||||
|       const Pose3& w_P_body = | ||||
|           interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor); | ||||
|       const Pose3& body_P_cam = cameraRig_[cameraIds_[i]].pose(); | ||||
|       const typename Base::Camera& camera_i = cameraRig_[cameraIds_[i]]; | ||||
|       const Pose3& body_P_cam = camera_i.pose(); | ||||
|       const Pose3& w_P_cam = w_P_body.compose(body_P_cam); | ||||
|       cameras.emplace_back(w_P_cam, | ||||
|                            make_shared<typename CAMERA::CalibrationType>( | ||||
|                                cameraRig_[cameraIds_[i]].calibration())); | ||||
|                                camera_i.calibration())); | ||||
|     } | ||||
|     return cameras; | ||||
|   } | ||||
|  | @ -347,10 +348,10 @@ class SmartProjectionPoseFactorRollingShutter | |||
|         auto w_P_body = | ||||
|             interpolate<Pose3>(w_P_body1, w_P_body2, interpolationFactor, | ||||
|                                dInterpPose_dPoseBody1, dInterpPose_dPoseBody2); | ||||
|         auto body_P_cam = cameraRig_[cameraIds_[i]].pose(); | ||||
|         const typename Base::Camera& camera_i = cameraRig_[cameraIds_[i]]; | ||||
|         auto body_P_cam = camera_i.pose(); | ||||
|         auto w_P_cam = w_P_body.compose(body_P_cam, dPoseCam_dInterpPose); | ||||
|         PinholeCamera<CALIBRATION> camera( | ||||
|             w_P_cam, cameraRig_[cameraIds_[i]].calibration()); | ||||
|         PinholeCamera<CALIBRATION> camera(w_P_cam, camera_i.calibration()); | ||||
| 
 | ||||
|         // get jacobians and error vector for current measurement
 | ||||
|         Point2 reprojectionError_i = | ||||
|  |  | |||
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