Deautoify 2019 vision a bit more
Change-Id: I45c74565c08059ae14fcba3dd4084ba134a21db8
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,