From c1a7cf21d58e2bb2e42db1838c492aa854a69b2e Mon Sep 17 00:00:00 2001 From: Akshay Krishnan Date: Sat, 7 May 2022 11:26:21 -0700 Subject: [PATCH] rename getUniqueKey --- gtsam/sfm/TranslationRecovery.cpp | 5 +++-- gtsam/sfm/TranslationRecovery.h | 2 +- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/gtsam/sfm/TranslationRecovery.cpp b/gtsam/sfm/TranslationRecovery.cpp index ce8e9c079..aa75b8fc6 100644 --- a/gtsam/sfm/TranslationRecovery.cpp +++ b/gtsam/sfm/TranslationRecovery.cpp @@ -93,7 +93,8 @@ void TranslationRecovery::addPrior( // Add between factors for optional relative translations. for (auto edge : betweenTranslations) { - Key k1 = getUniqueKey(edge.key1()), k2 = getUniqueKey(edge.key2()); + Key k1 = getSameTranslationRootNode(edge.key1()), + k2 = getSameTranslationRootNode(edge.key2()); if (k1 != k2) { graph->emplace_shared>(k1, k2, edge.measured(), edge.noiseModel()); @@ -107,7 +108,7 @@ void TranslationRecovery::addPrior( } } -Key TranslationRecovery::getUniqueKey(const Key i) const { +Key TranslationRecovery::getSameTranslationRootNode(const Key i) const { for (const auto &optimizedAndDuplicateKeys : sameTranslationNodes_) { Key optimizedKey = optimizedAndDuplicateKeys.first; std::set duplicateKeys = optimizedAndDuplicateKeys.second; diff --git a/gtsam/sfm/TranslationRecovery.h b/gtsam/sfm/TranslationRecovery.h index 0b25ad7b4..931d072c8 100644 --- a/gtsam/sfm/TranslationRecovery.h +++ b/gtsam/sfm/TranslationRecovery.h @@ -153,7 +153,7 @@ class TranslationRecovery { * @return Key of optimized variable - same as input if it does not have any * zero-translation edges. */ - Key getUniqueKey(const Key i) const; + Key getSameTranslationRootNode(const Key i) const; /** * @brief Adds nodes that were not optimized for because they were connected