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use const &

release/4.3a0
Frank Dellaert 2022-01-30 14:02:29 -05:00
parent 88e3330d27
commit 1d8a4563c9
1 changed files with 5 additions and 5 deletions
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10
gtsam/slam/dataset.cpp
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@ -208,15 +208,15 @@ std::map<size_t, Point2> parseVariables<Point2>(const std::string &filename,
/* ************************************************************************* */
// Interpret noise parameters according to flags
static SharedNoiseModel
createNoiseModel(const Vector6 v, bool smart, NoiseFormat noiseFormat,
KernelFunctionType kernelFunctionType) {
static SharedNoiseModel createNoiseModel(
const Vector6 &v, bool smart, NoiseFormat noiseFormat,
KernelFunctionType kernelFunctionType) {
if (noiseFormat == NoiseFormatAUTO) {
// Try to guess covariance matrix layout
if (v(0) != 0.0 && v(1) == 0.0 && v(2) != 0.0 && //
if (v(0) != 0.0 && v(1) == 0.0 && v(2) != 0.0 && //
v(3) != 0.0 && v(4) == 0.0 && v(5) == 0.0) {
noiseFormat = NoiseFormatGRAPH;
} else if (v(0) != 0.0 && v(1) == 0.0 && v(2) == 0.0 && //
} else if (v(0) != 0.0 && v(1) == 0.0 && v(2) == 0.0 && //
v(3) != 0.0 && v(4) == 0.0 && v(5) != 0.0) {
noiseFormat = NoiseFormatCOV;
} else {