diff --git a/src/problem.cpp b/src/problem.cpp index a40d1b3e05c9113c39b9a26c63c172cbb95b5445..c9eeb21c041a8643f97808a45a316a88f4661873 100644 --- a/src/problem.cpp +++ b/src/problem.cpp @@ -484,12 +484,12 @@ bool Problem::getFrameCovariance(FrameBasePtr _frame_ptr, Eigen::MatrixXs& _cova bool success(true); int i = 0, j = 0; - for (auto sb_i : _frame_ptr->getStateBlockVec()) + for (const auto& sb_i : _frame_ptr->getStateBlockVec()) { if (sb_i) { j = 0; - for (auto sb_j : _frame_ptr->getStateBlockVec()) + for (const auto& sb_j : _frame_ptr->getStateBlockVec()) { if (sb_j) { @@ -506,7 +506,7 @@ bool Problem::getFrameCovariance(FrameBasePtr _frame_ptr, Eigen::MatrixXs& _cova Eigen::MatrixXs Problem::getFrameCovariance(FrameBasePtr _frame_ptr) { Size sz = 0; - for (auto sb : _frame_ptr->getStateBlockVec()) + for (const auto& sb : _frame_ptr->getStateBlockVec()) if (sb) sz += sb->getSize(); Eigen::MatrixXs covariance(sz, sz); diff --git a/src/sensor_base.h b/src/sensor_base.h index b68585d6ff24b7606d0094b588ded87e9785ef15..cd36d2881ca75aaeb8116c84b9678feac37e8663 100644 --- a/src/sensor_base.h +++ b/src/sensor_base.h @@ -260,7 +260,7 @@ inline bool SensorBase::process(const CaptureBasePtr capture_ptr) capture_ptr->setSensorPtr(shared_from_this()); - for (const auto processor : processor_list_) + for (const auto& processor : processor_list_) { processor->process(capture_ptr); }