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fixed glitch highlighted by CI

release/4.3a0
lcarlone 2021-04-03 18:10:39 -04:00
parent 413b9d8202
commit 6ae3b80bae
1 changed files with 11 additions and 11 deletions
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22
gtsam_unstable/slam/SmartStereoProjectionFactorPP.cpp
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@ -44,18 +44,18 @@ void SmartStereoProjectionFactorPP::add(
void SmartStereoProjectionFactorPP::add( void SmartStereoProjectionFactorPP::add(
const std::vector<StereoPoint2>& measurements, const std::vector<StereoPoint2>& measurements,
const KeyVector& w_P_body_keys, const KeyVector& body_P_cam_keys, const KeyVector& world_P_body_keys, const KeyVector& body_P_cam_keys,
const std::vector<boost::shared_ptr<Cal3_S2Stereo>>& Ks) { const std::vector<boost::shared_ptr<Cal3_S2Stereo>>& Ks) {
assert(measurements.size() == poseKeys.size()); assert(world_P_body_keys.size() == measurements.size());
assert(w_P_body_keys.size() == body_P_cam_keys.size()); assert(world_P_body_keys.size() == body_P_cam_keys.size());
assert(w_P_body_keys.size() == Ks.size()); assert(world_P_body_keys.size() == Ks.size());
for (size_t i = 0; i < measurements.size(); i++) { for (size_t i = 0; i < measurements.size(); i++) {
Base::add(measurements[i], w_P_body_keys[i]); Base::add(measurements[i], world_P_body_keys[i]);
// pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared // pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared
if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end()) if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end())
keys_.push_back(body_P_cam_keys[i]); // add only unique keys keys_.push_back(body_P_cam_keys[i]); // add only unique keys
world_P_body_keys_.push_back(w_P_body_keys[i]); world_P_body_keys_.push_back(world_P_body_keys[i]);
body_P_cam_keys_.push_back(body_P_cam_keys[i]); body_P_cam_keys_.push_back(body_P_cam_keys[i]);
K_all_.push_back(Ks[i]); K_all_.push_back(Ks[i]);
@ -64,17 +64,17 @@ void SmartStereoProjectionFactorPP::add(
void SmartStereoProjectionFactorPP::add( void SmartStereoProjectionFactorPP::add(
const std::vector<StereoPoint2>& measurements, const std::vector<StereoPoint2>& measurements,
const KeyVector& w_P_body_keys, const KeyVector& body_P_cam_keys, const KeyVector& world_P_body_keys, const KeyVector& body_P_cam_keys,
const boost::shared_ptr<Cal3_S2Stereo>& K) { const boost::shared_ptr<Cal3_S2Stereo>& K) {
assert(poseKeys.size() == measurements.size()); assert(world_P_body_keys.size() == measurements.size());
assert(w_P_body_keys.size() == body_P_cam_keys.size()); assert(world_P_body_keys.size() == body_P_cam_keys.size());
for (size_t i = 0; i < measurements.size(); i++) { for (size_t i = 0; i < measurements.size(); i++) {
Base::add(measurements[i], w_P_body_keys[i]); Base::add(measurements[i], world_P_body_keys[i]);
// pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared // pose keys are assumed to be unique (1 observation per time stamp), but calibration can be shared
if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end()) if(std::find(keys_.begin(), keys_.end(), body_P_cam_keys[i]) == keys_.end())
keys_.push_back(body_P_cam_keys[i]); // add only unique keys keys_.push_back(body_P_cam_keys[i]); // add only unique keys
world_P_body_keys_.push_back(w_P_body_keys[i]); world_P_body_keys_.push_back(world_P_body_keys[i]);
body_P_cam_keys_.push_back(body_P_cam_keys[i]); body_P_cam_keys_.push_back(body_P_cam_keys[i]);
K_all_.push_back(K); K_all_.push_back(K);