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Used local variables more

release/4.3a0
Frank Dellaert 2013-08-31 03:22:07 +00:00
parent 2baa593458
commit e6b0b0a1bd
1 changed files with 7 additions and 4 deletions
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11
gtsam/geometry/Cal3_S2.cpp
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@ -33,7 +33,8 @@ namespace gtsam {
} }
/* ************************************************************************* */ /* ************************************************************************* */
Cal3_S2::Cal3_S2(const std::string &path) { Cal3_S2::Cal3_S2(const std::string &path) :
fx_(320), fy_(320), s_(0), u0_(320), v0_(140) {
char buffer[200]; char buffer[200];
buffer[0] = 0; buffer[0] = 0;
@ -68,10 +69,12 @@ namespace gtsam {
/* ************************************************************************* */ /* ************************************************************************* */
Point2 Cal3_S2::uncalibrate(const Point2& p, boost::optional<Matrix&> H1, Point2 Cal3_S2::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
boost::optional<Matrix&> H2) const { boost::optional<Matrix&> H2) const {
if (H1) *H1 = Matrix_(2, 5, p.x(), 000.0, p.y(), 1.0, 0.0, 0.000, p.y(),
0.000, 0.0, 1.0);
if (H2) *H2 = Matrix_(2, 2, fx_, s_, 0.000, fy_);
const double x = p.x(), y = p.y(); const double x = p.x(), y = p.y();
if (H1)
*H1 = Matrix_(2, 5,
x, 0.0, y, 1.0, 0.0,
0.0, y, 0.0, 0.0, 1.0);
if (H2) *H2 = Matrix_(2, 2, fx_, s_, 0.000, fy_);
return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_); return Point2(fx_ * x + s_ * y + u0_, fy_ * y + v0_);
} }