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Camera - > CAMERA (using directly template argument)

release/4.3a0
Luca 2015-03-27 18:40:37 -04:00
parent 5ba16dc621
commit 067f2ed39e
1 changed files with 3 additions and 3 deletions
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6
gtsam/slam/TriangulationFactor.h
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@ -31,7 +31,7 @@ class TriangulationFactor: public NoiseModelFactor1<Point3> {
public: public:
/// Camera type /// CAMERA type
typedef CAMERA Camera; typedef CAMERA Camera;
protected: protected:
@ -43,7 +43,7 @@ protected:
typedef TriangulationFactor<CAMERA> This; typedef TriangulationFactor<CAMERA> This;
// Keep a copy of measurement and calibration for I/O // Keep a copy of measurement and calibration for I/O
const Camera camera_; ///< Camera in which this landmark was seen const CAMERA camera_; ///< CAMERA in which this landmark was seen
const Point2 measured_; ///< 2D measurement const Point2 measured_; ///< 2D measurement
// verbosity handling for Cheirality Exceptions // verbosity handling for Cheirality Exceptions
@ -69,7 +69,7 @@ public:
* @param throwCheirality determines whether Cheirality exceptions are rethrown * @param throwCheirality determines whether Cheirality exceptions are rethrown
* @param verboseCheirality determines whether exceptions are printed for Cheirality * @param verboseCheirality determines whether exceptions are printed for Cheirality
*/ */
TriangulationFactor(const Camera& camera, const Point2& measured, TriangulationFactor(const CAMERA& camera, const Point2& measured,
const SharedNoiseModel& model, Key pointKey, bool throwCheirality = false, const SharedNoiseModel& model, Key pointKey, bool throwCheirality = false,
bool verboseCheirality = false) : bool verboseCheirality = false) :
Base(model, pointKey), camera_(camera), measured_(measured), throwCheirality_( Base(model, pointKey), camera_(camera), measured_(measured), throwCheirality_(