updating points name, constexpr

borglab · Jun 21, 2021 · e3b6c83 · e3b6c83
1 parent 47f9f30
commit e3b6c83
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Showing 2 changed files with 17 additions and 20 deletions.
diff --git a/examples/CreateSFMExampleData.cpp b/examples/CreateSFMExampleData.cpp
@@ -26,7 +26,7 @@ using namespace gtsam;
 
 /* ************************************************************************* */
 
-void createExampleBALFile(const string& filename, const vector<Point3>& P,
+void createExampleBALFile(const string& filename, const vector<Point3>& points,
                           const Pose3& pose1, const Pose3& pose2,
                           const Cal3Bundler& K = Cal3Bundler()) {
   // Class that will gather all data
@@ -35,7 +35,7 @@ void createExampleBALFile(const string& filename, const vector<Point3>& P,
   data.cameras.push_back(SfmCamera(pose1, K));
   data.cameras.push_back(SfmCamera(pose2, K));
 
-  for (const Point3& p : P) {
+  for (const Point3& p : points) {
     // Create the track
     SfmTrack track;
     track.p = p;
@@ -63,13 +63,12 @@ void create5PointExample1() {
   Pose3 pose1, pose2(aRb, aTb);
 
   // Create test data, we need at least 5 points
-  vector<Point3> P;
-  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1),  //
-      Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5);
+  vector<Point3> points = {{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1},  //
+      {0, 0.5, 0.5}, {0, -0.5, 0.5}};
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
   const string filename = "../../examples/Data/5pointExample1.txt";
-  createExampleBALFile(filename, P, pose1, pose2);
+  createExampleBALFile(filename, points, pose1, pose2);
 }
 
 /* ************************************************************************* */
@@ -81,15 +80,14 @@ void create5PointExample2() {
   Pose3 pose1, pose2(aRb, aTb);
 
   // Create test data, we need at least 5 points
-  vector<Point3> P;
-  P += Point3(0, 0, 100), Point3(-10, 0, 100), Point3(10, 0, 100),  //
-      Point3(0, 50, 50), Point3(0, -50, 50), Point3(-20, 0, 80),
-      Point3(20, -50, 80);
+  vector<Point3> points = {{0, 0, 100}, {-10, 0, 100}, {10, 0, 100},  //
+	  {0, 50, 50}, {0, -50, 50}, {-20, 0, 80},
+          {20, -50, 80}};
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
   const string filename = "../../examples/Data/5pointExample2.txt";
   Cal3Bundler K(500, 0, 0);
-  createExampleBALFile(filename, P, pose1, pose2, K);
+  createExampleBALFile(filename, points, pose1, pose2, K);
 }
 
 /* ************************************************************************* */
@@ -101,17 +99,16 @@ void create18PointExample1() {
   Pose3 pose1, pose2(aRb, aTb);
 
   // Create test data, we need 15 points
-  vector<Point3> P;
-  P += Point3(0, 0, 1), Point3(-0.1, 0, 1), Point3(0.1, 0, 1),              //
-      Point3(0, 0.5, 0.5), Point3(0, -0.5, 0.5), Point3(-1, -0.5, 2),       //
-      Point3(-1, 0.5, 2), Point3(0.25, -0.5, 1.5), Point3(0.25, 0.5, 1.5),  //
-      Point3(-0.1, -0.5, 0.5), Point3(0.1, -0.5, 1), Point3(0.1, 0.5, 1),   //
-      Point3(-0.1, 0, 0.5), Point3(-0.1, 0.5, 0.5), Point3(0, 0, 0.5),      //
-      Point3(0.1, -0.5, 0.5), Point3(0.1, 0, 0.5), Point3(0.1, 0.5, 0.5);
+  vector<Point3> points = {{0, 0, 1}, {-0.1, 0, 1}, {0.1, 0, 1},              //
+	  {0, 0.5, 0.5}, {0, -0.5, 0.5}, {-1, -0.5, 2},       //
+          {-1, 0.5, 2}, {0.25, -0.5, 1.5}, {0.25, 0.5, 1.5},  //
+          {-0.1, -0.5, 0.5}, {0.1, -0.5, 1}, {0.1, 0.5, 1},   //
+          {-0.1, 0, 0.5}, {-0.1, 0.5, 0.5}, {0, 0, 0.5},      //
+          {0.1, -0.5, 0.5}, {0.1, 0, 0.5}, {0.1, 0.5, 0.5}};
 
   // Assumes example is run in ${GTSAM_TOP}/build/examples
   const string filename = "../../examples/Data/18pointExample1.txt";
-  createExampleBALFile(filename, P, pose1, pose2);
+  createExampleBALFile(filename, points, pose1, pose2);
 }
 
 int main(int argc, char* argv[]) {

diff --git a/gtsam/slam/EssentialMatrixFactor.h b/gtsam/slam/EssentialMatrixFactor.h
@@ -315,7 +315,7 @@ class EssentialMatrixFactor4
   typedef NoiseModelFactor2<EssentialMatrix, CALIBRATION> Base;
   typedef EssentialMatrixFactor4 This;
 
-  static const int DimK = FixedDimension<CALIBRATION>::value;
+  static constexpr int DimK = FixedDimension<CALIBRATION>::value;
   typedef Eigen::Matrix<double, 2, DimK> JacobianCalibration;
 
  public: