Final cleanup

gtsam/geometry/triangulation.cpp

@@ -25,8 +25,8 @@
 namespace gtsam {
 
 Vector4 triangulateHomogeneousDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& 
-    projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const Point2Vector& measurements, double rank_tol) {
   // number of cameras
   size_t m = projection_matrices.size();
@@ -56,8 +56,8 @@ Vector4 triangulateHomogeneousDLT(
 }
 
 Vector4 triangulateHomogeneousDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& 
-    projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const std::vector<Unit3>& measurements, double rank_tol) {
   // number of cameras
   size_t m = projection_matrices.size();
@@ -68,7 +68,7 @@ Vector4 triangulateHomogeneousDLT(
   for (size_t i = 0; i < m; i++) {
     size_t row = i * 2;
     const Matrix34& projection = projection_matrices.at(i);
-    const Point3& p = 
+    const Point3& p =
         measurements.at(i)
             .point3();  // to get access to x,y,z of the bearing vector
 
@@ -130,7 +130,7 @@ Point3 triangulateLOST(const std::vector<Pose3>& poses,
     // Note: Setting q_i = 1.0 gives same results as DLT.
     const double q_i = num_i / (measurementNoise->sigma() * den_i);
 
-    const Matrix23 coefficientMat = 
+    const Matrix23 coefficientMat =
         q_i * skewSymmetric(calibratedMeasurements[i]).topLeftCorner(2, 3) *
         wTi.rotation().matrix().transpose();
 
@@ -147,8 +147,8 @@ Point3 triangulateLOST(const std::vector<Pose3>& poses,
 }
 
 Point3 triangulateDLT(
-    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& 
-    projection_matrices,
+    const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
+        projection_matrices,
     const Point2Vector& measurements, double rank_tol) {
   Vector4 v = 
       triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);
@@ -161,7 +161,7 @@ Point3 triangulateDLT(
     projection_matrices,
     const std::vector<Unit3>& measurements, double rank_tol) {
   // contrary to previous triangulateDLT, this is now taking Unit3 inputs
-  Vector4 v = 
+  Vector4 v =
       triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);
   // Create 3D point from homogeneous coordinates
   return Point3(v.head<3>() / v[3]);
@@ -174,7 +174,7 @@ Point3 triangulateDLT(
  * @param landmarkKey to refer to landmark
  * @return refined Point3
  */
-Point3 optimize(const NonlinearFactorGraph& graph, const Values& values, 
+Point3 optimize(const NonlinearFactorGraph& graph, const Values& values,
                 Key landmarkKey) {
   // Maybe we should consider Gauss-Newton?
   LevenbergMarquardtParams params;