Method parameters

okvis_ros/okvis/okvis_ceres/src/Map.cpp:611–620

Get the parameters of a residual block.

// Get the parameters of a residual block.
Map::ParameterBlockCollection Map::parameters(
    ::ceres::ResidualBlockId residualBlockId) const {  // get the parameter blocks connected
  ResidualBlockId2ParameterBlockCollection_Map::const_iterator it =
      residualBlockId2ParameterBlockCollection_Map_.find(residualBlockId);
  if (it == residualBlockId2ParameterBlockCollection_Map_.end()) {
    ParameterBlockCollection empty;
    return empty;  // empty vector
  }
  return it->second;
}

}  // namespace ceres
}  // namespace okvis