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document and use std::tie

release/4.3a0
alexma3312 2020-09-08 22:42:09 -04:00
parent 8fa76865cb
commit a1b73b3776
2 changed files with 7 additions and 7 deletions
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2
gtsam/geometry/Point3.h
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@ -66,6 +66,8 @@ GTSAM_EXPORT Point3 mean(const CONTAINER& points) {
sum = std::accumulate(points.begin(), points.end(), sum); sum = std::accumulate(points.begin(), points.end(), sum);
return sum / points.size(); return sum / points.size();
} }
/// mean of Point3 pair
GTSAM_EXPORT Point3Pair mean(const std::vector<Point3Pair>& abPointPairs); GTSAM_EXPORT Point3Pair mean(const std::vector<Point3Pair>& abPointPairs);
template <typename A1, typename A2> template <typename A1, typename A2>

12
gtsam_unstable/geometry/Similarity3.cpp
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@ -99,9 +99,8 @@ Point3 Similarity3::operator*(const Point3& p) const {
// Refer to: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf Chapter 3 // Refer to: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf Chapter 3
Similarity3 Similarity3::AlignGivenR(const std::vector<Point3Pair>& abPointPairs, const Rot3& aRb) { Similarity3 Similarity3::AlignGivenR(const std::vector<Point3Pair>& abPointPairs, const Rot3& aRb) {
// calculate centroids // calculate centroids
const Point3Pair centroids = mean(abPointPairs); Point3 aCentroid, bCentroid;
const Point3 aCentroid = centroids.first; std::tie(aCentroid, bCentroid) = mean(abPointPairs);
const Point3 bCentroid = centroids.second;
// calculate scale // calculate scale
double x = 0; double x = 0;
@ -128,9 +127,8 @@ Similarity3 Similarity3::Align(const std::vector<Point3Pair>& abPointPairs) {
if (n < 3) throw std::runtime_error("input should have at least 3 pairs of points"); // we need at least three pairs if (n < 3) throw std::runtime_error("input should have at least 3 pairs of points"); // we need at least three pairs
// calculate centroids // calculate centroids
const Point3Pair centroids = mean(abPointPairs); Point3 aCentroid, bCentroid;
const Point3 aCentroid = centroids.first; std::tie(aCentroid, bCentroid) = mean(abPointPairs);
const Point3 bCentroid = centroids.second;
// Add to form H matrix // Add to form H matrix
Matrix3 H = Z_3x3; Matrix3 H = Z_3x3;
@ -152,7 +150,7 @@ Similarity3 Similarity3::Align(const std::vector<Pose3Pair>& abPosePairs) {
const size_t n = abPosePairs.size(); const size_t n = abPosePairs.size();
if (n < 2) throw std::runtime_error("input should have at least 2 pairs of poses"); // we need at least two pairs if (n < 2) throw std::runtime_error("input should have at least 2 pairs of poses"); // we need at least two pairs
// calculate rotation and centroids // calculate rotation
vector<Rot3> rotationList; vector<Rot3> rotationList;
vector<Point3Pair> abPointPairs; vector<Point3Pair> abPointPairs;
abPointPairs.reserve(n); abPointPairs.reserve(n);