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fix SphericalCamera traits definition

release/4.3a0
Varun Agrawal 2023-08-01 09:55:00 -04:00
parent ced6c53e06
commit c8184eb109
2 changed files with 4 additions and 3 deletions
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4
gtsam/geometry/SphericalCamera.h
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@ -238,9 +238,9 @@ class GTSAM_EXPORT SphericalCamera {
// end of class SphericalCamera // end of class SphericalCamera
template <> template <>
struct traits<SphericalCamera> : public internal::LieGroup<Pose3> {}; struct traits<SphericalCamera> : public internal::Manifold<SphericalCamera> {};
template <> template <>
struct traits<const SphericalCamera> : public internal::LieGroup<Pose3> {}; struct traits<const SphericalCamera> : public internal::Manifold<SphericalCamera> {};
} // namespace gtsam } // namespace gtsam

3
gtsam/slam/SmartFactorBase.h
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@ -162,8 +162,9 @@ protected:
/// Collect all cameras: important that in key order. /// Collect all cameras: important that in key order.
virtual Cameras cameras(const Values& values) const { virtual Cameras cameras(const Values& values) const {
Cameras cameras; Cameras cameras;
for(const Key& k: this->keys_) for(const Key& k: this->keys_) {
cameras.push_back(values.at<CAMERA>(k)); cameras.push_back(values.at<CAMERA>(k));
}
return cameras; return cameras;
} }