From cdde34735051971fd7dd97aa968ad6985fa7c4e8 Mon Sep 17 00:00:00 2001 From: Luca Date: Fri, 27 Mar 2015 18:39:37 -0400 Subject: [PATCH] fixed typo and warning (int VS size_t) --- gtsam/geometry/CameraSet.h | 4 ++-- gtsam/slam/RegularImplicitSchurFactor.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index cd67187df..1ee53d2c8 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -93,7 +93,7 @@ public: } /** - * Project a point (posibly Unit3 at infinity), with derivatives + * Project a point (possibly Unit3 at infinity), with derivatives * Note that F is a sparse block-diagonal matrix, so instead of a large dense * matrix this function returns the diagonal blocks. * throws CheiralityException @@ -148,7 +148,7 @@ public: const Matrix& E, const Eigen::Matrix& P, const Vector& b) { // a single point is observed in m cameras - int m = Fs.size(); + size_t m = Fs.size(); // Create a SymmetricBlockMatrix size_t M1 = D * m + 1; diff --git a/gtsam/slam/RegularImplicitSchurFactor.h b/gtsam/slam/RegularImplicitSchurFactor.h index da1f5b785..0e52d9ba7 100644 --- a/gtsam/slam/RegularImplicitSchurFactor.h +++ b/gtsam/slam/RegularImplicitSchurFactor.h @@ -152,7 +152,7 @@ public: * E_.block(ZDim * k, 0); Eigen::Matrix dj; - for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian + for (int k = 0; k < D; ++k) { // for each diagonal element of the camera hessian // Vector column_k_Fj = Fj.col(k); dj(k) = Fj.col(k).squaredNorm(); // dot(column_k_Fj, column_k_Fj); // Vector column_k_FtE = FtE.row(k); @@ -184,7 +184,7 @@ public: * E_.block(ZDim * pos, 0); DVector dj; - for (size_t k = 0; k < D; ++k) { // for each diagonal element of the camera hessian + for (int k = 0; k < D; ++k) { // for each diagonal element of the camera hessian dj(k) = Fj.col(k).squaredNorm(); // (1 x 1) = (1 x 3) * (3 * 3) * (3 x 1) dj(k) -= FtE.row(k) * PointCovariance_ * FtE.row(k).transpose();