Get a shared pointer to an error term.
| 588 | |
| 589 | // Get a shared pointer to an error term. |
| 590 | std::shared_ptr<okvis::ceres::ErrorInterface> Map::errorInterfacePtr( |
| 591 | ::ceres::ResidualBlockId residualBlockId) { // get a vertex |
| 592 | ResidualBlockId2ResidualBlockSpec_Map::iterator it = residualBlockId2ResidualBlockSpec_Map_.find(residualBlockId); |
| 593 | if (it == residualBlockId2ResidualBlockSpec_Map_.end()) { |
| 594 | return std::shared_ptr<okvis::ceres::ErrorInterface>(); // NULL |
| 595 | } |
| 596 | return it->second.errorInterfacePtr; |
| 597 | } |
| 598 | |
| 599 | // Get a shared pointer to an error term. |
| 600 | std::shared_ptr<const okvis::ceres::ErrorInterface> Map::errorInterfacePtr( |