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rename getUniqueKey

release/4.3a0
Akshay Krishnan 2022-05-07 11:26:21 -07:00
parent b42d3a3d2f
commit c1a7cf21d5
2 changed files with 4 additions and 3 deletions
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5
gtsam/sfm/TranslationRecovery.cpp
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@ -93,7 +93,8 @@ void TranslationRecovery::addPrior(
// Add between factors for optional relative translations. // Add between factors for optional relative translations.
for (auto edge : betweenTranslations) { 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) { if (k1 != k2) {
graph->emplace_shared<BetweenFactor<Point3>>(k1, k2, edge.measured(), graph->emplace_shared<BetweenFactor<Point3>>(k1, k2, edge.measured(),
edge.noiseModel()); 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_) { for (const auto &optimizedAndDuplicateKeys : sameTranslationNodes_) {
Key optimizedKey = optimizedAndDuplicateKeys.first; Key optimizedKey = optimizedAndDuplicateKeys.first;
std::set<Key> duplicateKeys = optimizedAndDuplicateKeys.second; std::set<Key> duplicateKeys = optimizedAndDuplicateKeys.second;

2
gtsam/sfm/TranslationRecovery.h
View File

@ -153,7 +153,7 @@ class TranslationRecovery {
* @return Key of optimized variable - same as input if it does not have any * @return Key of optimized variable - same as input if it does not have any
* zero-translation edges. * 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 * @brief Adds nodes that were not optimized for because they were connected