commit 2894e9015b46940f1562acecf7d0d3cbec0567ef
author Austin Schuh <austin.linux@gmail.com> Sun Mar 03 21:12:46 2019 -0800
committer Austin Schuh <austin.linux@gmail.com> Tue Mar 05 21:00:42 2019 -0800
tree fbc41b4bed93e6758fc218409a3d9a16d4608219
parent 813d8d7a0eed3f55534e4bbe22dab0a0864586e3

Deautoify 2019 vision a bit more

Change-Id: I45c74565c08059ae14fcba3dd4084ba134a21db8

y2019/vision/global_calibration.cc

diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index 94048ad..7ca1011 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -153,16 +153,19 @@
     // Use the solver to generate an intermediate version of our results.
     std::vector<IntermediateResult> results;
     for (const Target &target : target_list) {
-      auto target_value = target.toPointList();
-      auto template_value = finder_.GetTemplateTarget().toPointList();
+      ::std::array<aos::vision::Vector<2>, 8> target_value =
+          target.ToPointList();
+      ::std::array<aos::vision::Vector<2>, 8> template_value =
+          finder_.GetTemplateTarget().ToPointList();
 
-      auto *extrinsics = new double[ExtrinsicParams::kNumParams];
+      // TODO(austin): Memory leak below, fix.
+      double *extrinsics = new double[ExtrinsicParams::kNumParams];
       ExtrinsicParams().set(extrinsics);
       all_extrinsics.push_back({std::unique_ptr<double[]>(extrinsics), i});
 
       for (size_t j = 0; j < 8; ++j) {
-        auto temp = template_value[j];
-        auto targ = target_value[j];
+        aos::vision::Vector<2> temp = template_value[j];
+        aos::vision::Vector<2> targ = target_value[j];
 
         auto ftor = [temp, targ, i](const double *const intrinsics,
                                     const double *const extrinsics,

y2019/vision/target_geometry.cc

diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 1c1fb99..7c8eeb4 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -45,7 +45,7 @@
   return out;
 }
 
-std::array<Vector<2>, 8> Target::toPointList() const {
+std::array<Vector<2>, 8> Target::ToPointList() const {
   return std::array<Vector<2>, 8>{{right.top, right.inside, right.bottom,
                                    right.outside, left.top, left.inside,
                                    left.bottom, left.outside}};
@@ -153,12 +153,13 @@
 
   Problem problem;
 
-  auto target_value = target.toPointList();
-  auto template_value = target_template_.toPointList();
+  ::std::array<aos::vision::Vector<2>, 8> target_value = target.ToPointList();
+  ::std::array<aos::vision::Vector<2>, 8> template_value =
+      target_template_.ToPointList();
 
   for (size_t i = 0; i < 8; ++i) {
-    auto a = template_value[i];
-    auto b = target_value[i];
+    aos::vision::Vector<2> a = template_value[i];
+    aos::vision::Vector<2> b = target_value[i];
 
     problem.AddResidualBlock(
         new NumericDiffCostFunction<RuntimeCostFunctor, CENTRAL, 2, 4>(

y2019/vision/target_types.h

diff --git a/y2019/vision/target_types.h b/y2019/vision/target_types.h
index a20ecf7..dea9ba6 100644
--- a/y2019/vision/target_types.h
+++ b/y2019/vision/target_types.h
@@ -40,7 +40,7 @@
 
   static Target MakeTemplate();
   // Get the points in some order (will match against the template).
-  std::array<aos::vision::Vector<2>, 8> toPointList() const;
+  std::array<aos::vision::Vector<2>, 8> ToPointList() const;
 };
 
 struct ExtrinsicParams {