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fix typo in types

release/4.3a0
John Lambert 2021-11-06 20:38:22 -04:00 committed by GitHub
parent 9fd745156e
commit 7082b67bc3
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
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gtsam/geometry/Similarity2.cpp
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@ -104,7 +104,7 @@ Similarity2::Similarity2(const Matrix3& T) :
} }
bool Similarity2::equals(const Similarity2& other, double tol) const { bool Similarity2::equals(const Similarity2& other, double tol) const {
return R_.equals(other.R_, tol) && traits<Point3>::Equals(t_, other.t_, tol) return R_.equals(other.R_, tol) && traits<Point2>::Equals(t_, other.t_, tol)
&& s_ < (other.s_ + tol) && s_ > (other.s_ - tol); && s_ < (other.s_ + tol) && s_ > (other.s_ - tol);
} }
@ -132,7 +132,7 @@ Similarity2 Similarity2::inverse() const {
return Similarity2(Rt, sRt, 1.0 / s_); return Similarity2(Rt, sRt, 1.0 / s_);
} }
Point3 Similarity2::transformFrom(const Point2& p) const { Point2 Similarity2::transformFrom(const Point2& p) const {
const Point2 q = R_ * p + t_; const Point2 q = R_ * p + t_;
return s_ * q; return s_ * q;
} }
@ -160,7 +160,7 @@ Similarity2 Similarity2::Align(const Point2Pairs &abPointPairs) {
return align(d_abPointPairs, aRb, centroids); return align(d_abPointPairs, aRb, centroids);
} }
Similarity2 Similarity2::Align(const vector<Pose3Pair> &abPosePairs) { Similarity2 Similarity2::Align(const vector<Pose2Pair> &abPosePairs) {
const size_t n = abPosePairs.size(); const size_t n = abPosePairs.size();
if (n < 2) if (n < 2)
throw std::runtime_error("input should have at least 2 pairs of poses"); throw std::runtime_error("input should have at least 2 pairs of poses");