diff --git a/src/active_search.cpp b/src/active_search.cpp
index b4d14e863df2b7a1b5bef9d6e65f3b5cb5a65d8c..a8958aa2956b0a3c23bbad8e010277c4d29a45c8 100644
--- a/src/active_search.cpp
+++ b/src/active_search.cpp
@@ -124,7 +124,7 @@ void ActiveSearchGrid::blockCell(const cv::Rect & _roi)
// ACTIVE SEARCH ALGORITHMS
////////////////////////////////////////////////////////
- map<double, observation_ptr_t> ActiveSearch::projectAll(const sensor_ptr_t & senPtr, size_t & numVis) {
+ map<double, observation_ptr_t> ActiveSearch::projectAll(const sensor_ptr_t & senPtr, Size & numVis) {
map<double, observation_ptr_t> visObs;
for (SensorAbstract::DataManagerList::iterator dmaIter = senPtr->dataManagerList().begin(); dmaIter!=senPtr->dataManagerList().end(); dmaIter++ )
{
diff --git a/src/active_search.h b/src/active_search.h
index bd098b1586e0b5fb13ba36071701aa19ba4d7dcc..6c321977dffe646d933d2495f390f9f359b1fddb 100644
--- a/src/active_search.h
+++ b/src/active_search.h
@@ -319,7 +319,7 @@ inline Eigen::Vector2i ActiveSearchGrid::cellCenter(const Eigen::Vector2i& _cell
// * \param senPtr pointer to the sensor under consideration.
// * \return a map of all observations that are visible from the sensor, ordered according to the information gain.
// */
-// std::map<double, observation_ptr_t> projectAll(const sensor_ptr_t & senPtr, size_t & numVis);
+// std::map<double, observation_ptr_t> projectAll(const sensor_ptr_t & senPtr, Size & numVis);
// /**
// * Predict observed appearance.
diff --git a/src/pinholeTools.h b/src/pinholeTools.h
index d31ad8b0001f10f028ba644e0ad64708375841f8..bbcc9a65160790931572255d675c319ac091f07a 100644
--- a/src/pinholeTools.h
+++ b/src/pinholeTools.h
@@ -161,7 +161,7 @@ namespace pinhole {
if (d.size() == 0) return 1.0;
Scalar s = 1.0;
Scalar r2i = 1.0;
- for (size_t i = 0; i < d.size(); i++) { // here we are doing:
+ for (Size i = 0; i < d.size(); i++) { // here we are doing:
r2i = r2i * r2; // r2i = r^(2*(i+1))
s += d(i) * r2i; // s = 1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + ...
// std::cout << "s: " << s << std::endl;
@@ -202,7 +202,7 @@ namespace pinhole {
*/
template<class VD, class VU>
Eigen::Vector2s distortPoint(const VD & d, const VU & up) {
- size_t n = d.size();
+ Size n = d.size();
if (n == 0)
return up;
else {
@@ -210,7 +210,7 @@ namespace pinhole {
return distortFactor(d, r2) * up;
// Scalar s = 1.0;
// Scalar r2i = 1.0;
-// for (size_t i = 0; i < n; i++) { // here we are doing:
+// for (Size i = 0; i < n; i++) { // here we are doing:
// r2i = r2i * r2; // r2i = r^(2*(i+1))
// s += d(i) * r2i; // s = 1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + ...
// }
@@ -241,7 +241,7 @@ namespace pinhole {
*/
template<class VD, class VUp, class VUd, class MUD_up>
void distortPoint(const VD & d, const VUp & up, VUd & ud, MUD_up & UD_up) {
- size_t n = d.size();
+ Size n = d.size();
Eigen::Vector2s R2_up;
Eigen::Vector2s S_up;
@@ -260,7 +260,7 @@ namespace pinhole {
Scalar r2im1 = 1.0; //r2*(i-1)
Scalar S_r2 = 0.0;
- for (size_t i = 0; i < n; i++) { //.. here we are doing:
+ for (Size i = 0; i < n; i++) { //.. here we are doing:
r2i = r2i * r2; //................. r2i = r^(2*(i+1))
s += d(i) * r2i; //................ s = 1 + d_0 * r^2 + d_1 * r^4 + d_2 * r^6 + ...
@@ -288,7 +288,7 @@ namespace pinhole {
// c is correction?
template<class VC, class VU>
Eigen::Vector2s undistortPoint(const VC & c, const VU & ud) {
- size_t n = c.size();
+ Size n = c.size();
if (n == 0)
return ud;
else {
@@ -297,7 +297,7 @@ namespace pinhole {
return distortFactor(c, r2) * ud;
// Scalar s = 1.0;
// Scalar r2i = 1.0;
-// for (size_t i = 0; i < n; i++) { // here we are doing:
+// for (Size i = 0; i < n; i++) { // here we are doing:
// r2i = r2i * r2; // r2i = r^(2*(i+1))
// s += c(i) * r2i; // s = 1 + c_0 * r^2 + c_1 * r^4 + c_2 * r^6 + ...
// }
@@ -307,7 +307,7 @@ namespace pinhole {
template<class VC, class VUd, class VUp, class MUP_ud>
void undistortPoint(const VC & c, const VUd & ud, VUp & up, MUP_ud & UP_ud) {
- size_t n = c.size();
+ Size n = c.size();
Eigen::Vector2s R2_ud;
Eigen::Vector2s S_ud;
@@ -326,7 +326,7 @@ namespace pinhole {
Scalar r2im1 = 1.0; //r2*(i-1)
Scalar S_r2 = 0.0;
- for (size_t i = 0; i < n; i++) { //.. here we are doing:
+ for (Size i = 0; i < n; i++) { //.. here we are doing:
r2i = r2i * r2; //................. r2i = r^(2*(i+1))
s += c(i) * r2i; //................ s = 1 + c_0 * r^2 + c_1 * r^4 + c_2 * r^6 + ...
@@ -602,14 +602,14 @@ namespace pinhole {
*/
template<class Vk, class Vd, class Vc>
void computeCorrectionModel(const Vk & k, const Vd & d, Vc & c) {
- size_t size = c.size();
+ Size size = c.size();
if (size != 0) {
Scalar r_max = sqrt(k(0)*k(0) / (k(2)*k(2)) + k(1)*k(1) / (k(3)*k(3)));
Scalar rd_max = 1.1 * r_max;
- size_t N_samples = 200; // number of samples
+ Size N_samples = 200; // number of samples
Scalar iN_samples = 1 / (Scalar) N_samples;
Scalar rd_n, rc_2, rd_2;
// vec rd(N_samples+1), rc(N_samples+1);
@@ -618,7 +618,7 @@ namespace pinhole {
Eigen::MatrixXs Rd(N_samples+1, size);
- for (size_t sample = 0; sample <= N_samples; sample++) {
+ for (Size sample = 0; sample <= N_samples; sample++) {
rc(sample) = sample * rd_max * iN_samples; // sample * rd_max / N_samples
rc_2 = rc(sample) * rc(sample);
@@ -627,7 +627,7 @@ namespace pinhole {
rd_n = rd(sample); // start with rd
- for (size_t order = 0; order < size; order++) {
+ for (Size order = 0; order < size; order++) {
rd_n *= rd_2; // increment:
Rd(sample, order) = rd_n; // we have : rd^3, rd^5, rd^7, ...
}