From 3d18d70d6925fa6d12c4b4aa1d4232b322c0b33b Mon Sep 17 00:00:00 2001 From: zhaoyang Date: Fri, 12 Jun 2015 16:55:38 -0400 Subject: [PATCH] change naming for local_point & world_point --- gtsam/geometry/StereoCamera.cpp | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/gtsam/geometry/StereoCamera.cpp b/gtsam/geometry/StereoCamera.cpp index 36efb61dd..b04143d8d 100644 --- a/gtsam/geometry/StereoCamera.cpp +++ b/gtsam/geometry/StereoCamera.cpp @@ -91,8 +91,8 @@ namespace gtsam { double Z = K_->baseline() * K_->fx() / (measured[0] - measured[1]); double X = Z * (measured[0] - K_->px()) / K_->fx(); double Y = Z * (measured[2] - K_->py()) / K_->fy(); - Point3 world_point = leftCamPose_.transform_from(Point3(X, Y, Z)); - return world_point; + Point3 world = leftCamPose_.transform_from(Point3(X, Y, Z)); + return world; } /* ************************************************************************* */ @@ -105,28 +105,28 @@ namespace gtsam { double disparity = uL - uR; double local_z = b * fx / disparity; - const Point3 local_point(local_z * (uL - cx)/ fx, local_z * (v - cy) / fy, local_z); + const Point3 local(local_z * (uL - cx)/ fx, local_z * (v - cy) / fy, local_z); if(H1 || H2) { double z_partial_uR = local_z/disparity; - double x_partial_uR = local_point.x()/disparity; - double y_partial_uR = local_point.y()/disparity; + double x_partial_uR = local.x()/disparity; + double y_partial_uR = local.y()/disparity; Matrix3 D_local_z; - D_local_z << -x_partial_uR + local_point.z()/fx, x_partial_uR, 0, - -y_partial_uR, y_partial_uR, local_point.z() / fy, + D_local_z << -x_partial_uR + local.z()/fx, x_partial_uR, 0, + -y_partial_uR, y_partial_uR, local.z() / fy, -z_partial_uR, z_partial_uR, 0; Matrix3 D_point_local; - const Point3 world_point = leftCamPose_.transform_from(local_point, H1, D_point_local); + const Point3 world = leftCamPose_.transform_from(local, H1, D_point_local); if(H2) { *H2 = D_point_local * D_local_z; } - return world_point; + return world; } - return leftCamPose_.transform_from(local_point); + return leftCamPose_.transform_from(local); } }