More constifying and deautoifying
Easier to read now.
Change-Id: I0bb01614009af23c3a76e241352deeb82dcc3a67
diff --git a/y2019/vision/global_calibration.cc b/y2019/vision/global_calibration.cc
index 1888f4a..9c98787 100644
--- a/y2019/vision/global_calibration.cc
+++ b/y2019/vision/global_calibration.cc
@@ -114,7 +114,7 @@
Solver::Summary summary;
std::cout << summary.BriefReport() << "\n";
- auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
+ IntrinsicParams intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
std::cout << "fl = " << intrinsics_.focal_length << ";\n";
std::cout << "error = " << summary.final_cost << ";\n";
@@ -187,7 +187,7 @@
auto ftor = [&info, i](const double *const extrinsics,
const double *const geometry, double *residual) {
- auto err = GetError(info, extrinsics, geometry, i);
+ std::array<double, 3> err = GetError(info, extrinsics, geometry, i);
residual[0] = 32.0 * err[0];
residual[1] = 32.0 * err[1];
residual[2] = 32.0 * err[2];
@@ -209,8 +209,8 @@
{
std::cout << summary.BriefReport() << "\n";
- auto intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
- auto geometry_ = CameraGeometry::get(&geometry[0]);
+ IntrinsicParams intrinsics_ = IntrinsicParams::get(&intrinsics[0]);
+ CameraGeometry geometry_ = CameraGeometry::get(&geometry[0]);
std::cout << "rup = " << intrinsics_.mount_angle * 180 / M_PI << ";\n";
std::cout << "fl = " << intrinsics_.focal_length << ";\n";
std::cout << "error = " << summary.final_cost << ";\n";
@@ -225,11 +225,11 @@
std::cout << "camera_barrel = " << intrinsics_.barrel_mount * 180.0 / M_PI
<< "\n";
- for (auto &sample : all_extrinsics) {
+ for (const Sample &sample : all_extrinsics) {
int i = sample.i;
double *data = sample.extrinsics.get();
- auto extn = ExtrinsicParams::get(data);
+ ExtrinsicParams extn = ExtrinsicParams::get(data);
auto err = GetError(info, data, &geometry[0], i);
diff --git a/y2019/vision/target_geometry.cc b/y2019/vision/target_geometry.cc
index 7c8eeb4..c8b2d84 100644
--- a/y2019/vision/target_geometry.cc
+++ b/y2019/vision/target_geometry.cc
@@ -53,20 +53,20 @@
Vector<2> Project(Vector<2> pt, const IntrinsicParams &intrinsics,
const ExtrinsicParams &extrinsics) {
- double y = extrinsics.y;
- double z = extrinsics.z;
- double r1 = extrinsics.r1;
- double r2 = extrinsics.r2;
- double rup = intrinsics.mount_angle;
- double rbarrel = intrinsics.barrel_mount;
- double fl = intrinsics.focal_length;
+ const double y = extrinsics.y;
+ const double z = extrinsics.z;
+ const double r1 = extrinsics.r1;
+ const double r2 = extrinsics.r2;
+ const double rup = intrinsics.mount_angle;
+ const double rbarrel = intrinsics.barrel_mount;
+ const double fl = intrinsics.focal_length;
::Eigen::Matrix<double, 1, 3> pts{pt.x(), pt.y() + y, 0.0};
{
- double theta = r1;
- double s = sin(theta);
- double c = cos(theta);
+ const double theta = r1;
+ const double s = sin(theta);
+ const double c = cos(theta);
pts = (::Eigen::Matrix<double, 3, 3>() << c, 0, -s, 0, 1, 0, s, 0,
c).finished() *
pts.transpose();
@@ -75,9 +75,9 @@
pts(2) += z;
{
- double theta = r2;
- double s = sin(theta);
- double c = cos(theta);
+ const double theta = r2;
+ const double s = sin(theta);
+ const double c = cos(theta);
pts = (::Eigen::Matrix<double, 3, 3>() << c, 0, -s, 0, 1, 0, s, 0,
c).finished() *
pts.transpose();
@@ -85,9 +85,9 @@
// TODO: Apply 15 degree downward rotation.
{
- double theta = rup;
- double s = sin(theta);
- double c = cos(theta);
+ const double theta = rup;
+ const double s = sin(theta);
+ const double c = cos(theta);
pts = (::Eigen::Matrix<double, 3, 3>() << 1, 0, 0, 0, c, -s, 0, s,
c).finished() *
@@ -100,9 +100,9 @@
pts.transpose();
// TODO: Final image projection.
- ::Eigen::Matrix<double, 1, 3> res = pts;
+ const ::Eigen::Matrix<double, 1, 3> res = pts;
- float scale = fl / res.z();
+ const float scale = fl / res.z();
return Vector<2>(res.x() * scale + 320.0, 240.0 - res.y() * scale);
}