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Update style to have bracket on same lines, and autoformat

release/4.3a0
John Lambert 2022-07-19 00:34:20 -04:00 committed by GitHub
parent 51fb3750e8
commit fc35096a1d
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1 changed files with 90 additions and 96 deletions
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16
gtsam/sfm/DsfTrackGenerator.h
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@ -17,7 +17,6 @@
*/ */
#pragma once #pragma once
#include <pybind11/stl.h>
#include <Eigen/Core> #include <Eigen/Core>
#include <gtsam/base/DSFMap.h> #include <gtsam/base/DSFMap.h>
@ -39,8 +38,7 @@ typedef Eigen::MatrixX2i CorrespondenceIndices; // N x 2 array
using KeypointCoordinates = Eigen::MatrixX2d; using KeypointCoordinates = Eigen::MatrixX2d;
struct Keypoints struct Keypoints {
{
KeypointCoordinates coordinates; KeypointCoordinates coordinates;
// typedef'd for Eigen::VectorXd // typedef'd for Eigen::VectorXd
boost::optional<gtsam::Vector> scales; boost::optional<gtsam::Vector> scales;
@ -57,8 +55,7 @@ using MatchIndicesMap = std::map<ImagePair, CorrespondenceIndices>;
// @param camera index // @param camera index
// @param 2d measurement // @param 2d measurement
// Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h) // Implemented as named tuple, instead of std::pair (like SfmMeasurement in SfmTrack.h)
struct NamedSfmMeasurement struct NamedSfmMeasurement {
{
size_t i; size_t i;
gtsam::Point2 uv; gtsam::Point2 uv;
@ -71,8 +68,7 @@ struct NamedSfmMeasurement
* Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement. * Note: Equivalent to gtsam.SfmTrack, but without the 3d measurement.
* This class holds data temporarily before 3D point is initialized. * This class holds data temporarily before 3D point is initialized.
*/ */
class SfmTrack2d class SfmTrack2d {
{
private: private:
std::vector<NamedSfmMeasurement> measurements_; std::vector<NamedSfmMeasurement> measurements_;
@ -101,8 +97,7 @@ class SfmTrack2d
/** /**
* @brief Generates point tracks from connected components in the keypoint matches graph. * @brief Generates point tracks from connected components in the keypoint matches graph.
*/ */
class DsfTrackGenerator class DsfTrackGenerator {
{
public: public:
/** Default constructor. */ /** Default constructor. */
@ -119,8 +114,7 @@ class DsfTrackGenerator
// @param Length-N list of keypoints, for N images/cameras. // @param Length-N list of keypoints, for N images/cameras.
std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches( std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
const MatchIndicesMap& matches_dict, const MatchIndicesMap& matches_dict,
const KeypointsList& keypoints_list) const KeypointsList& keypoints_list) {
{
std::vector<SfmTrack2d> track_2d_list; std::vector<SfmTrack2d> track_2d_list;
std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl; std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;