From a4a552ea863bcb9153e87a3a6cc337c9134468dd Mon Sep 17 00:00:00 2001 From: Chris Beall Date: Wed, 9 Dec 2009 19:13:02 +0000 Subject: [PATCH] fixed bug concerning variable keys not being saved. --- cpp/VSLAMFactor.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/cpp/VSLAMFactor.cpp b/cpp/VSLAMFactor.cpp index 636566dfb..54fdc2de8 100644 --- a/cpp/VSLAMFactor.cpp +++ b/cpp/VSLAMFactor.cpp @@ -19,6 +19,8 @@ VSLAMFactor::VSLAMFactor() { landmarkNumber_ = 222; cameraFrameName_ = symbol('x',cameraFrameNumber_); landmarkName_ = symbol('l',landmarkNumber_); + keys_.push_back(cameraFrameName_); + keys_.push_back(landmarkName_); K_ = shared_ptrK(new Cal3_S2(444,555,666,777,888)); } /* ************************************************************************* */ @@ -29,6 +31,8 @@ VSLAMFactor::VSLAMFactor(const Point2& z, double sigma, int cn, int ln, const sh landmarkNumber_ = ln; cameraFrameName_ = symbol('x',cameraFrameNumber_); landmarkName_ = symbol('l',landmarkNumber_); + keys_.push_back(cameraFrameName_); + keys_.push_back(landmarkName_); K_ = K; }