From 17cd2a75ef6f51210f49d7009f9ccb70732e4780 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 5 Jun 2020 14:04:23 +0200
Subject: [PATCH] Add key of prior in Feature type string
---
src/problem/problem.cpp | 10 ++--------
1 file changed, 2 insertions(+), 8 deletions(-)
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 09533b1a8..8b7bf52b5 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1003,7 +1003,7 @@ void Problem::setPriorOptions(const std::string& _mode,
auto cov_blk = (_sigma.at(key).array() * _sigma.at(key).array()).matrix().asDiagonal();
Q.emplace(key,key,cov_blk);
}
- WOLF_TRACE("prior covariance:\n" , Q);
+ WOLF_TRACE("prior covariance:" , Q);
prior_options_->cov__ = Q;
}
}
@@ -1042,14 +1042,8 @@ FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)
assert(sb->getSize() == state_blk.size() && "prior_options state wrong size");
assert(sb->getLocalSize() == covar_blk.rows() && "prior_options cov. wrong size");
- WOLF_DEBUG("key: ", key);
- WOLF_DEBUG("vec: ", state_blk);
- WOLF_DEBUG("cov: ", covar_blk);
- WOLF_DEBUG("sb : ", sb->getState());
- WOLF_DEBUG("----------------------: ");
-
// feature
- auto prior_fea = FeatureBase::emplace<FeatureBase>(prior_cap, "prior", state_blk, covar_blk);
+ auto prior_fea = FeatureBase::emplace<FeatureBase>(prior_cap, "Prior " + key, state_blk, covar_blk);
// factor
if (sb->hasLocalParametrization())
--
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