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Starting the change to isotropic

release/4.3a0
dellaert 2015-02-22 17:20:03 +01:00
parent ad6293848e
commit c271874bc2
1 changed files with 4 additions and 5 deletions
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9
gtsam/slam/SmartFactorBase.h
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@ -55,8 +55,7 @@ protected:
*/ */
std::vector<Z> measured_; std::vector<Z> measured_;
//SharedIsotropic noiseModel_; SharedIsotropic noiseModel_;
std::vector<SharedNoiseModel> noise_; ///< noise model used
boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras) boost::optional<Pose3> body_P_sensor_; ///< The pose of the sensor in the body frame (one for all cameras)
@ -159,8 +158,8 @@ public:
} }
/** return the noise models */ /** return the noise models */
const std::vector<SharedNoiseModel>& noise() const { const SharedIsotropic& noise() const {
return noise_; return noiseModel_;
} }
/** /**
@ -173,7 +172,7 @@ public:
std::cout << s << "SmartFactorBase, z = \n"; std::cout << s << "SmartFactorBase, z = \n";
for (size_t k = 0; k < measured_.size(); ++k) { for (size_t k = 0; k < measured_.size(); ++k) {
std::cout << "measurement, p = " << measured_[k] << "\t"; std::cout << "measurement, p = " << measured_[k] << "\t";
noise_[k]->print("noise model = "); noiseModel_->print("noise model = ");
} }
if (this->body_P_sensor_) if (this->body_P_sensor_)
this->body_P_sensor_->print(" sensor pose in body frame: "); this->body_P_sensor_->print(" sensor pose in body frame: ");