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Commit 822edbc3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Replace sh_ptr reference by simple sh_ptr

parent 3701aeae
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1 merge request!7Replace sh_ptr reference by simple sh_ptr
...@@ -92,7 +92,7 @@ class ProcessorGnssFix : public ProcessorBase ...@@ -92,7 +92,7 @@ class ProcessorGnssFix : public ProcessorBase
virtual bool voteForKeyFrame() override; virtual bool voteForKeyFrame() override;
private: private:
FactorBasePtr emplaceFactor(FeatureBasePtr& ftr_ptr); FactorBasePtr emplaceFactor(FeatureBasePtr _ftr_ptr);
bool rejectOutlier(FactorBasePtr ctr_ptr); bool rejectOutlier(FactorBasePtr ctr_ptr);
public: public:
......
...@@ -94,7 +94,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase ...@@ -94,7 +94,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
private: private:
FactorBasePtr emplaceFactor(FeatureBasePtr& ftr); FactorBasePtr emplaceFactor(FeatureBasePtr _ftr);
public: public:
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor); static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor);
......
...@@ -98,16 +98,16 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture) ...@@ -98,16 +98,16 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
} }
} }
FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr& ftr) FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr _ftr)
{ {
// CREATE CONSTRAINT -------------------- // CREATE CONSTRAINT --------------------
//WOLF_DEBUG("creating the factor..."); //WOLF_DEBUG("creating the factor...");
// 2D // 2D
if (getProblem()->getDim() == 2) if (getProblem()->getDim() == 2)
return FactorBase::emplace<FactorGnssFix2D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); return FactorBase::emplace<FactorGnssFix2D>(_ftr, _ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE);
// 3D // 3D
else else
return FactorBase::emplace<FactorGnssFix3D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE); return FactorBase::emplace<FactorGnssFix3D>(_ftr, _ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE);
} }
bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac) bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac)
......
...@@ -88,12 +88,12 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture) ...@@ -88,12 +88,12 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
} }
} }
FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr& ftr) FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr _ftr)
{ {
//WOLF_DEBUG("creating the factor..."); //WOLF_DEBUG("creating the factor...");
// 2D // 2D
if (getProblem()->getDim() == 2) if (getProblem()->getDim() == 2)
return FactorBase::emplace<FactorGnssSingleDiff2D>(ftr, ftr, incoming_capture_->getOriginFrame(), sensor_gnss_, shared_from_this()); return FactorBase::emplace<FactorGnssSingleDiff2D>(_ftr, _ftr, incoming_capture_->getOriginFrame(), sensor_gnss_, shared_from_this());
// 3D TODO // 3D TODO
else else
std::runtime_error("Single Differences in 3D not implemented yet."); std::runtime_error("Single Differences in 3D not implemented yet.");
......
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