From 25b6146633967855166a1518ea93be01048de5e5 Mon Sep 17 00:00:00 2001
From: Varun Agrawal <varagrawal@gmail.com>
Date: Wed, 2 Dec 2020 06:11:50 -0500
Subject: [PATCH] matrix_inverse() -> inverse()

---
 gtsam/geometry/Cal3.h      | 2 +-
 gtsam/geometry/Cal3_S2.cpp | 9 ++++-----
 gtsam/gtsam.i              | 2 +-
 3 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/gtsam/geometry/Cal3.h b/gtsam/geometry/Cal3.h
index 6d3973080..b1a61c592 100644
--- a/gtsam/geometry/Cal3.h
+++ b/gtsam/geometry/Cal3.h
@@ -165,7 +165,7 @@ class GTSAM_EXPORT Cal3 {
 #endif
 
   /// Return inverted calibration matrix inv(K)
-  Matrix3 matrix_inverse() const {
+  Matrix3 inverse() const {
     const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_;
     Matrix3 K_inverse;
     K_inverse << 1.0 / fx_, -s_ / fxy, (sv0 - fyu0) / fxy, 0.0, 1.0 / fy_,
diff --git a/gtsam/geometry/Cal3_S2.cpp b/gtsam/geometry/Cal3_S2.cpp
index 12635abdd..2d830a4a3 100644
--- a/gtsam/geometry/Cal3_S2.cpp
+++ b/gtsam/geometry/Cal3_S2.cpp
@@ -22,12 +22,11 @@
 #include <iostream>
 
 namespace gtsam {
-using namespace std;
 
 /* ************************************************************************* */
-ostream& operator<<(ostream& os, const Cal3_S2& cal) {
-  os << "{fx: " << cal.fx() << ", fy: " << cal.fy() << ", s:" << cal.skew()
-     << ", px:" << cal.px() << ", py:" << cal.py() << "}";
+std::ostream& operator<<(std::ostream& os, const Cal3_S2& cal) {
+  os << "{ fx: " << cal.fx() << ", fy: " << cal.fy() << ", s: " << cal.skew()
+     << ", px: " << cal.px() << ", py: " << cal.py() << " }";
   return os;
 }
 
@@ -68,7 +67,7 @@ Point2 Cal3_S2::calibrate(const Point2& p, OptionalJacobian<2, 5> Dcal,
 }
 
 /* ************************************************************************* */
-Vector3 Cal3_S2::calibrate(const Vector3& p) const { return matrix_inverse() * p; }
+Vector3 Cal3_S2::calibrate(const Vector3& p) const { return inverse() * p; }
 
 /* ************************************************************************* */
 
diff --git a/gtsam/gtsam.i b/gtsam/gtsam.i
index e405e533c..493c1d7db 100644
--- a/gtsam/gtsam.i
+++ b/gtsam/gtsam.i
@@ -852,7 +852,7 @@ class Cal3_S2 {
   gtsam::Point2 principalPoint() const;
   Vector vector() const;
   Matrix K() const;
-  Matrix matrix_inverse() const;
+  Matrix inverse() const;
 
   // enabling serialization functionality
   void serialize() const;