diff --git a/gtsam_unstable/partition/GenericGraph.cpp b/gtsam_unstable/partition/GenericGraph.cpp index 7200f6168..f941407e9 100644 --- a/gtsam_unstable/partition/GenericGraph.cpp +++ b/gtsam_unstable/partition/GenericGraph.cpp @@ -47,15 +47,15 @@ namespace gtsam { namespace partition { toErase.push_back(itFactor); nrFactors--; continue; } - size_t label1 = dsf.findSet(key1.index); - size_t label2 = dsf.findSet(key2.index); + size_t label1 = dsf.find(key1.index); + size_t label2 = dsf.find(key2.index); if (label1 == label2) { toErase.push_back(itFactor); nrFactors--; continue; } // merge two trees if the connection is strong enough, otherwise cache it // an odometry factor always merges two islands if (key1.type == NODE_POSE_2D && key2.type == NODE_POSE_2D) { toErase.push_back(itFactor); nrFactors--; - dsf.makeUnionInPlace(label1, label2); + dsf.merge(label1, label2); succeed = true; break; } @@ -64,7 +64,7 @@ namespace gtsam { namespace partition { if ((dsf.isSingleton(label1)==1 && key1.type == NODE_LANDMARK_2D) || (dsf.isSingleton(label2)==1 && key2.type == NODE_LANDMARK_2D)) { toErase.push_back(itFactor); nrFactors--; - dsf.makeUnionInPlace(label1, label2); + dsf.merge(label1, label2); succeed = true; break; } @@ -87,7 +87,7 @@ namespace gtsam { namespace partition { } else { toErase.push_back(itFactor); nrFactors--; toErase.push_back(itCached->second); nrFactors--; - dsf.makeUnionInPlace(label1, label2); + dsf.merge(label1, label2); connections.erase(itCached); succeed = true; break; @@ -150,8 +150,8 @@ namespace gtsam { namespace partition { } if (graph.size() == 178765) cout << "kai22" << endl; - size_t label1 = dsf.findSet(key1.index); - size_t label2 = dsf.findSet(key2.index); + size_t label1 = dsf.find(key1.index); + size_t label2 = dsf.find(key2.index); if (label1 == label2) { toErase.push_back(itFactor); nrFactors--; continue; } if (graph.size() == 178765) cout << "kai23" << endl; @@ -160,7 +160,7 @@ namespace gtsam { namespace partition { if ((key1.type == NODE_POSE_3D && key2.type == NODE_LANDMARK_3D) || (key1.type == NODE_POSE_3D && key2.type == NODE_POSE_3D)) { toErase.push_back(itFactor); nrFactors--; - dsf.makeUnionInPlace(label1, label2); + dsf.merge(label1, label2); succeed = true; break; }