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Merged in feature/range-based-for (pull request #250) 

Removed some uses of BOOST_FOREACH
release/4.3a0
Frank Dellaert 2016-05-18 15:51:02 -07:00
parent 3062d1d770 ccb7dd5b70
commit 27f0bfa411
4 changed files with 13 additions and 14 deletions
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3
examples/CreateSFMExampleData.cpp
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@ -18,7 +18,6 @@
#include <gtsam/slam/dataset.h> #include <gtsam/slam/dataset.h>
#include <gtsam/geometry/CalibratedCamera.h> #include <gtsam/geometry/CalibratedCamera.h>
#include <boost/foreach.hpp>
#include <boost/assign/std/vector.hpp> #include <boost/assign/std/vector.hpp>
using namespace boost::assign; using namespace boost::assign;
@ -41,7 +40,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
data.cameras.push_back(SfM_Camera(pose1, K)); data.cameras.push_back(SfM_Camera(pose1, K));
data.cameras.push_back(SfM_Camera(pose2, K)); data.cameras.push_back(SfM_Camera(pose2, K));
BOOST_FOREACH(const Point3& p, P) { for(const Point3& p: P) {
// Create the track // Create the track
SfM_Track track; SfM_Track track;

8
examples/SFMExampleExpressions_bal.cpp
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@ -78,10 +78,10 @@ int main(int argc, char* argv[]) {
// Simulated measurements from each camera pose, adding them to the factor graph // Simulated measurements from each camera pose, adding them to the factor graph
size_t j = 0; size_t j = 0;
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) { for(const SfM_Track& track: mydata.tracks) {
// Leaf expression for j^th point // Leaf expression for j^th point
Point3_ point_('p', j); Point3_ point_('p', j);
BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { for(const SfM_Measurement& m: track.measurements) {
size_t i = m.first; size_t i = m.first;
Point2 uv = m.second; Point2 uv = m.second;
// Leaf expression for i^th camera // Leaf expression for i^th camera
@ -98,9 +98,9 @@ int main(int argc, char* argv[]) {
Values initial; Values initial;
size_t i = 0; size_t i = 0;
j = 0; j = 0;
BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) for(const SfM_Camera& camera: mydata.cameras)
initial.insert(C(i++), camera); initial.insert(C(i++), camera);
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) for(const SfM_Track& track: mydata.tracks)
initial.insert(P(j++), track.p); initial.insert(P(j++), track.p);
/* Optimize the graph and print results */ /* Optimize the graph and print results */

8
examples/SFMExample_bal.cpp
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@ -55,8 +55,8 @@ int main (int argc, char* argv[]) {
// Add measurements to the factor graph // Add measurements to the factor graph
size_t j = 0; size_t j = 0;
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) { for(const SfM_Track& track: mydata.tracks) {
BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { for(const SfM_Measurement& m: track.measurements) {
size_t i = m.first; size_t i = m.first;
Point2 uv = m.second; Point2 uv = m.second;
graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
@ -72,8 +72,8 @@ int main (int argc, char* argv[]) {
// Create initial estimate // Create initial estimate
Values initial; Values initial;
size_t i = 0; j = 0; size_t i = 0; j = 0;
BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); for(const SfM_Track& track: mydata.tracks) initial.insert(P(j++), track.p);
/* Optimize the graph and print results */ /* Optimize the graph and print results */
Values result; Values result;

8
examples/SFMExample_bal_COLAMD_METIS.cpp
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@ -60,8 +60,8 @@ int main (int argc, char* argv[]) {
// Add measurements to the factor graph // Add measurements to the factor graph
size_t j = 0; size_t j = 0;
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) { for(const SfM_Track& track: mydata.tracks) {
BOOST_FOREACH(const SfM_Measurement& m, track.measurements) { for(const SfM_Measurement& m: track.measurements) {
size_t i = m.first; size_t i = m.first;
Point2 uv = m.second; Point2 uv = m.second;
graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P graph.push_back(MyFactor(uv, noise, C(i), P(j))); // note use of shorthand symbols C and P
@ -77,8 +77,8 @@ int main (int argc, char* argv[]) {
// Create initial estimate // Create initial estimate
Values initial; Values initial;
size_t i = 0; j = 0; size_t i = 0; j = 0;
BOOST_FOREACH(const SfM_Camera& camera, mydata.cameras) initial.insert(C(i++), camera); for(const SfM_Camera& camera: mydata.cameras) initial.insert(C(i++), camera);
BOOST_FOREACH(const SfM_Track& track, mydata.tracks) initial.insert(P(j++), track.p); for(const SfM_Track& track: mydata.tracks) initial.insert(P(j++), track.p);
/** --------------- COMPARISON -----------------------**/ /** --------------- COMPARISON -----------------------**/
/** ----------------------------------------------------**/ /** ----------------------------------------------------**/