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Final final cleanup

release/4.3a0
Travis Driver 2023-06-06 10:11:49 -07:00
parent bba4b8731f
commit 1e6f1b757c
1 changed files with 3 additions and 3 deletions
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6
gtsam/geometry/triangulation.cpp
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@ -150,15 +150,15 @@ Point3 triangulateDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
projection_matrices, projection_matrices,
const Point2Vector& measurements, double rank_tol) { const Point2Vector& measurements, double rank_tol) {
Vector4 v = Vector4 v =
triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol); triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);
// Create 3D point from homogeneous coordinates // Create 3D point from homogeneous coordinates
return Point3(v.head<3>() / v[3]); return Point3(v.head<3>() / v[3]);
} }
Point3 triangulateDLT( Point3 triangulateDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
projection_matrices, projection_matrices,
const std::vector<Unit3>& measurements, double rank_tol) { const std::vector<Unit3>& measurements, double rank_tol) {
// contrary to previous triangulateDLT, this is now taking Unit3 inputs // contrary to previous triangulateDLT, this is now taking Unit3 inputs
Vector4 v = Vector4 v =