constify and deautoify more things in vision
This was part of my effort to understand how things work.
Change-Id: I49dae7400fba8ec1f02d006f3d14c6dc254a8187
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 1dd6a1a..d4b8a54 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -124,20 +124,18 @@
Target Project(const Target &target, const IntrinsicParams &intrinsics,
const ExtrinsicParams &extrinsics) {
- auto project = [&](Vector<2> pt) {
- return Project(pt, intrinsics, extrinsics);
- };
Target new_targ;
new_targ.right.is_right = true;
- new_targ.right.top = project(target.right.top);
- new_targ.right.inside = project(target.right.inside);
- new_targ.right.bottom = project(target.right.bottom);
- new_targ.right.outside = project(target.right.outside);
+ new_targ.right.top = Project(target.right.top, intrinsics, extrinsics);
+ new_targ.right.inside = Project(target.right.inside, intrinsics, extrinsics);
+ new_targ.right.bottom = Project(target.right.bottom, intrinsics, extrinsics);
+ new_targ.right.outside =
+ Project(target.right.outside, intrinsics, extrinsics);
- new_targ.left.top = project(target.left.top);
- new_targ.left.inside = project(target.left.inside);
- new_targ.left.bottom = project(target.left.bottom);
- new_targ.left.outside = project(target.left.outside);
+ new_targ.left.top = Project(target.left.top, intrinsics, extrinsics);
+ new_targ.left.inside = Project(target.left.inside, intrinsics, extrinsics);
+ new_targ.left.bottom = Project(target.left.bottom, intrinsics, extrinsics);
+ new_targ.left.outside = Project(target.left.outside, intrinsics, extrinsics);
return new_targ;
}