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Minor updates

release/4.3a0
Varun Agrawal 2020-12-01 17:24:04 -05:00
parent 17e9b73fb6
commit 8daa6a7729
6 changed files with 12 additions and 12 deletions
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8
gtsam/geometry/Cal3.cpp
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@ -62,11 +62,11 @@ void Cal3::print(const std::string& s) const { gtsam::print((Matrix)K(), s); }
/* ************************************************************************* */
bool Cal3::equals(const Cal3& K, double tol) const {
return (std::abs(fx_ - K.fx_) < tol) && (std::abs(fy_ - K.fy_) < tol) &&
(std::abs(s_ - K.s_) < tol) && (std::abs(u0_ - K.u0_) < tol) &&
(std::abs(v0_ - K.v0_) < tol);
return (std::fabs(fx_ - K.fx_) < tol) && (std::fabs(fy_ - K.fy_) < tol) &&
(std::fabs(s_ - K.s_) < tol) && (std::fabs(u0_ - K.u0_) < tol) &&
(std::fabs(v0_ - K.v0_) < tol);
}
/* ************************************************************************* */
} // namespace gtsam
} // \ namespace gtsam

4
gtsam/geometry/Cal3.h
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@ -68,7 +68,7 @@ void calibrateJacobians(const Cal& calibration, const Point2& pn,
*/
class GTSAM_EXPORT Cal3 {
protected:
double fx_, fy_, s_, u0_, v0_;
double fx_, fy_, s_, u0_, v0_; ///< focal length, skew and principal point
public:
enum { dimension = 5 };
@ -113,7 +113,7 @@ class GTSAM_EXPORT Cal3 {
const Cal3& cal);
/// print with optional string
virtual void print(const std::string& s = "Cal3") const;
virtual void print(const std::string& s = "") const;
/// Check if equal up to specified tolerance
bool equals(const Cal3& K, double tol = 10e-9) const;

2
gtsam/geometry/Cal3DS2.h
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@ -32,7 +32,7 @@ namespace gtsam {
*/
class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
typedef Cal3DS2_Base Base;
using Base = Cal3DS2_Base;
public:

6
gtsam/geometry/Cal3DS2_Base.h
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@ -41,9 +41,9 @@ namespace gtsam {
*/
class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
protected:
double k1_, k2_; // radial 2nd-order and 4th-order
double p1_, p2_; // tangential distortion
double tol_ = 1e-5; // tolerance value when calibrating
double k1_, k2_; ///< radial 2nd-order and 4th-order
double p1_, p2_; ///< tangential distortion
double tol_ = 1e-5; ///< tolerance value when calibrating
public:
enum { dimension = 9 };

2
gtsam/geometry/Cal3Unified.h
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@ -47,7 +47,7 @@ class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base {
private:
double xi_; // mirror parameter
double xi_; ///< mirror parameter
public:

2
gtsam/geometry/Cal3_S2Stereo.cpp
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@ -32,7 +32,7 @@ void Cal3_S2Stereo::print(const std::string& s) const {
/* ************************************************************************* */
bool Cal3_S2Stereo::equals(const Cal3_S2Stereo& other, double tol) const {
const Cal3_S2* base = dynamic_cast<const Cal3_S2*>(&other);
return Cal3_S2::equals(*base, tol) && (std::abs(b_ - other.baseline()) < tol);
return Cal3_S2::equals(*base, tol) && (std::fabs(b_ - other.baseline()) < tol);
}
/* ************************************************************************* */