From abc29ea2ca2c9f407bd1bc4d36c323775fbe6abc Mon Sep 17 00:00:00 2001
From: Duy-Nguyen Ta <thduynguyen@gmail.com>
Date: Mon, 16 Jul 2012 15:24:27 +0000
Subject: [PATCH] capitalize static functions Level and Lookat in
 CalibratedCamera and PinholeCamera for matlab wrapper

---
 examples/VisualSLAMData.h                     | 2 +-
 gtsam.h                                       | 8 ++++----
 gtsam/geometry/CalibratedCamera.cpp           | 2 +-
 gtsam/geometry/CalibratedCamera.h             | 2 +-
 gtsam/geometry/PinholeCamera.h                | 8 ++++----
 gtsam/geometry/tests/testCalibratedCamera.cpp | 4 ++--
 gtsam/geometry/tests/testSimpleCamera.cpp     | 6 +++---
 7 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/examples/VisualSLAMData.h b/examples/VisualSLAMData.h
index 5416b3d43..28fa3040c 100644
--- a/examples/VisualSLAMData.h
+++ b/examples/VisualSLAMData.h
@@ -67,7 +67,7 @@ struct VisualSLAMExampleData {
 		double r = 30.0;
 		for (int i=0; i<n; ++i, theta += 2*M_PI/n) {
 			gtsam::Point3 C = gtsam::Point3(r*cos(theta), r*sin(theta), 0.0);
-			gtsam::SimpleCamera camera = gtsam::SimpleCamera::lookat(C, gtsam::Point3(), gtsam::Point3(0,0,1));
+			gtsam::SimpleCamera camera = gtsam::SimpleCamera::Lookat(C, gtsam::Point3(), gtsam::Point3(0,0,1));
 			data.poses.push_back(camera.pose());
 		}
 		data.odometry = data.poses[0].between(data.poses[1]);
diff --git a/gtsam.h b/gtsam.h
index 882319607..ea71e4228 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -499,7 +499,7 @@ virtual class CalibratedCamera : gtsam::Value {
 	CalibratedCamera();
 	CalibratedCamera(const gtsam::Pose3& pose);
 	CalibratedCamera(const Vector& v);
-  gtsam::CalibratedCamera level(const gtsam::Pose2& pose2, double height);
+  static gtsam::CalibratedCamera Level(const gtsam::Pose2& pose2, double height);
 
   // Testable
 	void print(string s) const;
@@ -529,10 +529,10 @@ virtual class SimpleCamera : gtsam::Value {
 	SimpleCamera();
   SimpleCamera(const gtsam::Pose3& pose);
   SimpleCamera(const gtsam::Pose3& pose, const gtsam::Cal3_S2& K);
-  static gtsam::SimpleCamera level(const gtsam::Cal3_S2& K,
+  static gtsam::SimpleCamera Level(const gtsam::Cal3_S2& K,
       const gtsam::Pose2& pose, double height);
-  static gtsam::SimpleCamera level(const gtsam::Pose2& pose, double height); // FIXME overload
-  static gtsam::SimpleCamera lookat(const gtsam::Point3& eye,
+  static gtsam::SimpleCamera Level(const gtsam::Pose2& pose, double height); // FIXME overload
+  static gtsam::SimpleCamera Lookat(const gtsam::Point3& eye,
       const gtsam::Point3& target, const gtsam::Point3& upVector,
       const gtsam::Cal3_S2& K);
 
diff --git a/gtsam/geometry/CalibratedCamera.cpp b/gtsam/geometry/CalibratedCamera.cpp
index fa27f2f71..25a4bc57b 100644
--- a/gtsam/geometry/CalibratedCamera.cpp
+++ b/gtsam/geometry/CalibratedCamera.cpp
@@ -47,7 +47,7 @@ Point3 CalibratedCamera::backproject_from_camera(const Point2& p, const double s
 }
 
 /* ************************************************************************* */
-CalibratedCamera CalibratedCamera::level(const Pose2& pose2, double height) {
+CalibratedCamera CalibratedCamera::Level(const Pose2& pose2, double height) {
 	double st = sin(pose2.theta()), ct = cos(pose2.theta());
 	Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
 	Rot3 wRc(x, y, z);
diff --git a/gtsam/geometry/CalibratedCamera.h b/gtsam/geometry/CalibratedCamera.h
index c767a7e15..a83a41827 100644
--- a/gtsam/geometry/CalibratedCamera.h
+++ b/gtsam/geometry/CalibratedCamera.h
@@ -96,7 +96,7 @@ namespace gtsam {
 		 * @param pose2 specifies the location and viewing direction
 		 * (theta 0 = looking in direction of positive X axis)
 		 */
-		static CalibratedCamera level(const Pose2& pose2, double height);
+		static CalibratedCamera Level(const Pose2& pose2, double height);
 
 		/// @}
 		/// @name Manifold
diff --git a/gtsam/geometry/PinholeCamera.h b/gtsam/geometry/PinholeCamera.h
index 2754bf7ef..79cbd8a87 100644
--- a/gtsam/geometry/PinholeCamera.h
+++ b/gtsam/geometry/PinholeCamera.h
@@ -66,7 +66,7 @@ namespace gtsam {
      * (theta 0 = looking in direction of positive X axis)
      * @param height camera height
      */
-    static PinholeCamera level(const Calibration &K, const Pose2& pose2, double height) {
+    static PinholeCamera Level(const Calibration &K, const Pose2& pose2, double height) {
       const double st = sin(pose2.theta()), ct = cos(pose2.theta());
       const Point3 x(st, -ct, 0), y(0, 0, -1), z(ct, st, 0);
       const Rot3 wRc(x, y, z);
@@ -76,8 +76,8 @@ namespace gtsam {
     }
 
     /// PinholeCamera::level with default calibration
-    static PinholeCamera level(const Pose2& pose2, double height) {
-      return PinholeCamera::level(Calibration(), pose2, height);
+    static PinholeCamera Level(const Pose2& pose2, double height) {
+      return PinholeCamera::Level(Calibration(), pose2, height);
     }
 
     /**
@@ -89,7 +89,7 @@ namespace gtsam {
      *        doesn't need to be on the image plane nor orthogonal to the viewing axis
      * @param K optional calibration parameter
      */
-    static PinholeCamera lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) {
+    static PinholeCamera Lookat(const Point3& eye, const Point3& target, const Point3& upVector, const Calibration& K = Calibration()) {
       Point3 zc = target-eye;
       zc = zc/zc.norm();
       Point3 xc = (-upVector).cross(zc);  // minus upVector since yc is pointing down
diff --git a/gtsam/geometry/tests/testCalibratedCamera.cpp b/gtsam/geometry/tests/testCalibratedCamera.cpp
index f8750ec24..57ccc0260 100644
--- a/gtsam/geometry/tests/testCalibratedCamera.cpp
+++ b/gtsam/geometry/tests/testCalibratedCamera.cpp
@@ -52,7 +52,7 @@ TEST( CalibratedCamera, level1)
 {
 	// Create a level camera, looking in X-direction
 	Pose2 pose2(0.1,0.2,0);
-	CalibratedCamera camera = CalibratedCamera::level(pose2, 0.3);
+	CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.3);
 
 	// expected
 	Point3 x(0,-1,0),y(0,0,-1),z(1,0,0);
@@ -66,7 +66,7 @@ TEST( CalibratedCamera, level2)
 {
 	// Create a level camera, looking in Y-direction
 	Pose2 pose2(0.4,0.3,M_PI/2.0);
-	CalibratedCamera camera = CalibratedCamera::level(pose2, 0.1);
+	CalibratedCamera camera = CalibratedCamera::Level(pose2, 0.1);
 
 	// expected
 	Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
diff --git a/gtsam/geometry/tests/testSimpleCamera.cpp b/gtsam/geometry/tests/testSimpleCamera.cpp
index a1647fa47..5e8918215 100644
--- a/gtsam/geometry/tests/testSimpleCamera.cpp
+++ b/gtsam/geometry/tests/testSimpleCamera.cpp
@@ -54,7 +54,7 @@ TEST( SimpleCamera, level2)
 {
 	// Create a level camera, looking in Y-direction
 	Pose2 pose2(0.4,0.3,M_PI/2.0);
-	SimpleCamera camera = SimpleCamera::level(K, pose2, 0.1);
+	SimpleCamera camera = SimpleCamera::Level(K, pose2, 0.1);
 
 	// expected
 	Point3 x(1,0,0),y(0,0,-1),z(0,1,0);
@@ -68,7 +68,7 @@ TEST( SimpleCamera, lookat)
 {
 	// Create a level camera, looking in Y-direction
 	Point3 C(10.0,0.0,0.0);
-	SimpleCamera camera = SimpleCamera::lookat(C, Point3(), Point3(0.0,0.0,1.0));
+	SimpleCamera camera = SimpleCamera::Lookat(C, Point3(), Point3(0.0,0.0,1.0));
 
 	// expected
 	Point3 xc(0,1,0),yc(0,0,-1),zc(-1,0,0);
@@ -76,7 +76,7 @@ TEST( SimpleCamera, lookat)
   CHECK(assert_equal( camera.pose(), expected));
 
   Point3 C2(30.0,0.0,10.0);
-  SimpleCamera camera2 = SimpleCamera::lookat(C2, Point3(), Point3(0.0,0.0,1.0));
+  SimpleCamera camera2 = SimpleCamera::Lookat(C2, Point3(), Point3(0.0,0.0,1.0));
 
   Matrix R = camera2.pose().rotation().matrix();
   Matrix I = trans(R)*R;