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Final cleanup

release/4.3a0
Travis Driver 2023-06-06 10:01:46 -07:00
parent 8d134fd120
commit bba4b8731f
1 changed files with 10 additions and 10 deletions
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6
gtsam/geometry/triangulation.cpp
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@ -26,7 +26,7 @@ namespace gtsam {
Vector4 triangulateHomogeneousDLT( Vector4 triangulateHomogeneousDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
projection_matrices, projection_matrices,
const Point2Vector& measurements, double rank_tol) { const Point2Vector& measurements, double rank_tol) {
// number of cameras // number of cameras
size_t m = projection_matrices.size(); size_t m = projection_matrices.size();
@ -57,7 +57,7 @@ Vector4 triangulateHomogeneousDLT(
Vector4 triangulateHomogeneousDLT( Vector4 triangulateHomogeneousDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
projection_matrices, projection_matrices,
const std::vector<Unit3>& measurements, double rank_tol) { const std::vector<Unit3>& measurements, double rank_tol) {
// number of cameras // number of cameras
size_t m = projection_matrices.size(); size_t m = projection_matrices.size();
@ -148,7 +148,7 @@ Point3 triangulateLOST(const std::vector<Pose3>& poses,
Point3 triangulateDLT( Point3 triangulateDLT(
const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>& const std::vector<Matrix34, Eigen::aligned_allocator<Matrix34>>&
projection_matrices, projection_matrices,
const Point2Vector& measurements, double rank_tol) { const Point2Vector& measurements, double rank_tol) {
Vector4 v = Vector4 v =
triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol); triangulateHomogeneousDLT(projection_matrices, measurements, rank_tol);