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);